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Modifies the dropweight test to test for breaching the surface.#162
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Modifies the dropweight test to test for breaching the surface.#162
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Currently, the `LrauvTestFixture` allows us to only load `BuoyantTethys.sdf`. This PR refactors the test fixture. It creates two test classes: * `LrauvTestFixtureBase` - An abstract base class which contains all the common functionality. * `LrauvTestFixture` - Inherits from `LrauvTestFixtureBase` and loads the `buoyant_tethys.sdf`. Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Depends on #160 This PR adds a surface at z=0 to the default `buoyant_tethy.sdf`. Most things work as expected. I had to move the MassShifter test deeper underwater as the vehicle would not pitch enough at the surface (kind of expected I guess?). I moved the mass shifter test deeper under water. Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Depends on #161, #160 This PR validates the behaviour of the dropweight with the surface of the water. It modifies the drop weight test such that the vehicle is started at a 10m depth and we monitor its rise. The test makes sure that we do not exceed a height of 0.5m (this tolerance is required to account for the oscillations introduces by the transition). Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
chapulina
approved these changes
Mar 2, 2022
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
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Depends on #161, #160
This PR validates the behaviour of the dropweight with the surface of the water. It modifies the drop weight test such that the vehicle is started at a 10m depth and we monitor its rise. The test makes sure that we do not exceed a height of 0.5m (this tolerance is required to account for the oscillations introduces by the transition).
Signed-off-by: Arjo Chakravarty arjo@openrobotics.org