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artefacts.yaml
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artefacts.yaml
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version: 0.1.0
project: demo-ros1-turtlesim
on: # define which jobs that will be automatically run on Artefacts infra on every push
push:
jobs:
- turtle_regression
jobs:
basic_turtle: # Overall job name
type: test
runtime:
simulator: turtlesim
framework: ros1:0
pre_launch: echo hello # command to be executed before launching the test. use it to perform any setup before simulator launch
timeout: 5 # minutes
scenarios:
defaults: # Global to all scenarios, and overridden in specific scenarios.
output_dirs: [/tmp/outputs/]
subscriptions:
pose: turtle1/pose
result: turtle1/odometry
rosbag_record: subscriptions
ros_testpackage: turtle_odometry
ros_testfile: turtle_odometry.launch
rosbag_postprocess: turtle_post_process.py --skip_figures
params:
test/start_pose: [[1, 1, 0]] # [x, y, theta]
test/segment_length: 5 # for square trajectory
test/odom_tuning_theta: 0.001 # demo: tune odometry algorithm
test/odom_tuning_forward: 0.01 # demo: tune odometry algorithm
settings:
- name: turtle_default
# - name: turtle_quick
# params:
# test/segment_length: 1
# - name: turtle_repeat
# params:
# test/dummy: [5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5]
# - name: turtle_test_fail
# params:
# test/start_pose: [[-1, 1, 0]]
# test/segment_length: 1
# - name: turtle_gridsearch_traj
# params:
# test/start_pose: [[1, 1, 0], [2.5, 2.5, 0]]
# test/segment_length: [7, 2]
# - name: turtle_gridsearch_odom
# params:
# test/odom_tuning_theta: [0.001, 0.0025, 0.005, 0.01, 0.025, 0.05, 0.075, 0.1, 0.25, 0.5]
# test/odom_tuning_forward: [0.001, 0.0025, 0.005, 0.01, 0.025, 0.05, 0.075, 0.1, 0.25, 0.5]
turtle_regression: # Overall job name
type: test
runtime:
simulator: turtlesim
framework: ros1:0
scenarios:
settings:
- name: simple_regression_test
ros_testpackage: turtle_simple
ros_testfile: turtle_simple.launch
turtle_repeat:
type: test
runtime:
simulator: turtlesim
framework: ros1:0
scenarios:
defaults:
params:
test/start_pose: [[1, 1, 0]] # [x, y, theta]
test/segment_length: 5 # for square trajectory
test/odom_tuning_theta: 0.001 # demo: tune odometry algorithm
test/odom_tuning_forward: 0.01 # demo: tune odometry algorithm
settings:
- name: turtle_repeatability
ros_testpackage: turtle_odometry
ros_testfile: turtle_odometry.launch
rosbag_record: all
rosbag_postprocess: turtle_post_process.py
params:
test/dummy: [5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5]
turtle_grid:
type: test
runtime:
simulator: turtlesim
framework: ros1:0
scenarios:
defaults:
params:
test/start_pose: [[1, 1, 0]] # [x, y, theta]
test/segment_length: 5 # for square trajectory
settings:
- name: turtle_gridsearch
ros_testpackage: turtle_odometry
ros_testfile: turtle_odometry.launch
rosbag_record: all
rosbag_postprocess: turtle_post_process.py --skip_figures
params:
test/odom_tuning_theta: [0.001, 0.0025, 0.005, 0.01, 0.025, 0.05, 0.075, 0.1, 0.25, 0.5]
test/odom_tuning_forward: [0.001, 0.0025, 0.005, 0.01, 0.025, 0.05, 0.075, 0.1, 0.25, 0.5]
dummy_other:
type: test
runtime:
simulator: turtlesim
framework: None
timeout: 5 # minutes
scenarios:
defaults: # Global to all scenarios, and overridden in specific scenarios.
run: "echo 'hello'"
settings:
- name: dummy
params:
test1: 42