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scenario_perception_pipeline_test_cases.yaml
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scenario_perception_pipeline_test_cases.yaml
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# test cases stored in the nav_msgs/msg/Path
test_cases:
# the first test case in type of nav_msgs/msg/Path,
# This test case can be selected in scenario_perception_pipeline_benchmark_main node
# by passing selected_test_case_index argument as 0
- poses:
# one of the pose in the `poses` field of nav_msgs/msg/Path
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
# the second test case in type of nav_msgs/msg/Path
# This test case can be selected in scenario_perception_pipeline_benchmark_main node
# by passing selected_test_case_index argument as 1
# When you select this test case, robot firstly tries to go the first pose.
# After going to first pose, robot tries to go second pose. Then robot tries
# to go the first pose again. Robot tries to go between two poses 10 times.
# (In totally, robot has 20 goal poses)
# To give more goal pose increases the measurement reliability of middleware effects.
# Because sampling based planner selection affects the benchmark measurements negatively.
- poses:
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- pose:
position:
x: 0.5
y: 0.5
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w : 1.0
- pose:
position:
x: 0.5
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0