diff --git a/RobotControlTest/03_CONTROL_ACKERMANN_TOPIC/CONTROL_ACKERMANN_ARTICULATIONS_TOPIC_TESTCASE.md b/RobotControlTest/03_CONTROL_ACKERMANN_TOPIC/CONTROL_ACKERMANN_ARTICULATIONS_TOPIC_TESTCASE.md new file mode 100644 index 0000000..2e3bf37 --- /dev/null +++ b/RobotControlTest/03_CONTROL_ACKERMANN_TOPIC/CONTROL_ACKERMANN_ARTICULATIONS_TOPIC_TESTCASE.md @@ -0,0 +1,85 @@ +# Test Goal + +- Check if ROS2 Control creates proper topics +- Check if messages are received and processed +- Check Vehicle dynamic + +# Test Perquisite + +- Empty default Level +- ROS2 Gem activated +- Physx 5 enabled by : `-DAZ_USE_PHYSX5:BOOL=ON ` +- O3DE Editor running + + +# Steps + +## Step 1 + +Launch the system terminal and run: + +```bash +source /opt/ros/humble/setup.bash +ros2 topic list -t +``` + +Leave the terminal open - it will be needed in the next steps. + +> Note: make sure, no ROS services are runing on your computer + +### Expected result + +- It should NOT include any messages of type: `geometry_msgs/msg/Twist` +- It should NOT include any messages of type: `ackermann_msgs/msg/AckermannDrive` + +## Step 2 + +Copy the file: [ackermann_robot_articulations.prefab](../Assets/ackermann_robot_articulations.prefab) into the Assets folder of your project and instantiate it. Move the robot to be located above the ground plane. + +### Expected result + +Your level should look like this: +![](images/control_initial_setup.png) + +## Step 3 + +Press `Ctrl+G` to enter game mode. + +## Step 4 + +In the terminal run: + +```bash +ros2 topic list +``` + +### Expected result + +You should see something like this: + +```bash +/base_link/ackermann_vel [ackermann_msgs/msg/AckermannDrive] +/clock [rosgraph_msgs/msg/Clock] +/parameter_events [rcl_interfaces/msg/ParameterEvent] +/rosout [rcl_interfaces/msg/Log] +/tf [tf2_msgs/msg/TFMessage] +/tf_static [tf2_msgs/msg/TFMessage] +``` + +Detailed list of topics may by different, but: +- It should include `/base_link/ackermann_vel` of type: `ackermann_msgs/msg/AckermannDrive` +- It should NOT include any messages of type: `geometry_msgs/msg/Twist` + +## Step 5 + +In the terminal run: + +```bash +ros2 topic pub -r 10 /base_link/ackermann_vel ackermann_msgs/msg/AckermannDrive "{steering_angle: 0.7, steering_angle_velocity: 0.0, speed: 2.0, acceleration: 0.0, jerk: 0.0}" +``` + +### Expected result + +The robot should drive in circles. + +![](images/control_result.gif) diff --git a/RobotControlTest/Assets/ackermann_robot_articulations.prefab b/RobotControlTest/Assets/ackermann_robot_articulations.prefab new file mode 100755 index 0000000..c6ee627 --- /dev/null +++ b/RobotControlTest/Assets/ackermann_robot_articulations.prefab @@ -0,0 +1,1696 @@ +{ + "ContainerEntity": { + "Id": "ContainerEntity", + "Name": "ackermann_robot_articulation", + "Components": { + "EditorDisabledCompositionComponent": { + "$type": "EditorDisabledCompositionComponent", + "Id": 6453775458808645066 + }, + "EditorEntityIconComponent": { + "$type": "EditorEntityIconComponent", + "Id": 10407667659833678570 + }, + "EditorEntitySortComponent": { + "$type": "EditorEntitySortComponent", + "Id": 18389453457289958175, + "Child Entity Order": [ + "Entity_[13405058773288]" + ] + }, + "EditorInspectorComponent": { + "$type": 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