Testing the robot motion

Make sure to test in order, since there are dependencies between some things.

Test Motion in Visualization

1. Test Kick:

   ros2 launch bitbots_dynamic_kick viz.launch
   ros2 run bitbots_dynamic_kick dummy_client.py
   

   The visualization should do a kick. It is normal, that the robot starts in init and not walkready.

2. Test Animation:

   ros2 launch bitbots_animation_server viz.launch
   ros2 run bitbots_animation_server run_animation.py cheering
   

3. Test Dynup:

   ros2 launch bitbots_dynup viz.launch
   ros2 run bitbots_dynup dummy_client.py front  # (or back)
   

   The visualization should show the robot doing the standup animation and the dynup.

4. Test Walk:

   ros2 launch bitbots_quintic_walk viz.launch
   ros2 launch bitbots_quintic_walk viz_walk.launch
   ros2 run bitbots_teleop teleop_keyboard.py
   

   You should be able to make the robot walk in RViz using the keyboard.

Test Motion on Robot

Make sure, that you tested the hardware and lowlevel software first. Easiest way to do both, is to use the following script: .. code-block:: bash

ros2 run bitbots_bringup check_robot.py

Alternativly, you can do it manually by following the following steps.

1. Test Kick on Robot:

   ros2 launch bitbots_dynamic_kick test.launch
   ros2 run bitbots_dynamic_kick dummy_client.py
   

2. Test Animation on Robot:

   ros2 launch bitbots_animation_server test.launch
   ros2 run bitbots_animation_server run_animation.py cheering
   

3. Test Record UI:

   ros2 launch bitbots_bringup motion_standalone.launch
   

   1. Start RQT record ui.

   2. Load and play some animations.

   3. Test other functions.

4. Test Dynup on Robot:

   ros2 launch bitbots_dynup test.launch
   ros2 run bitbots_dynup dummy_client.py
   

5. Test Walk on Robot:

   ros2 launch bitbots_quintic_walk test.launch
   ros2 run bitbots_teleop teleop_keyboard.py
   

   Let the robot move around in all directions and also combinations.

6. Test Falling:

   ros2 launch bitbots_bringup motion_standalone.launch
   

   Move the robot, as if it is falling, it should do a falling animation.