{"id":80,"date":"2023-02-15T00:34:50","date_gmt":"2023-02-15T00:34:50","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/?page_id=80"},"modified":"2023-10-04T20:11:49","modified_gmt":"2023-10-04T20:11:49","slug":"test-plan","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/test-plan\/","title":{"rendered":"Test Plan"},"content":{"rendered":"\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<p><a href=\"https:\/\/docs.google.com\/document\/d\/1tNheHsXvU8Vd02AMY7ui1-cs76hGwb4q-z8bZUFS-8c\/edit?usp=sharing\">Full Test Plan for Fall<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>Fall Validation<\/strong><\/h2>\n\n\n\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<figure class=\"wp-block-table is-style-stripes\"><table class=\"has-white-background-color has-background\"><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>Objective<\/strong><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">To demonstrate the entire navigation system on both the locobot and A1-Unitree<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table class=\"has-white-background-color has-background\"><tbody><tr><td>Requirements<\/td><td>M.F.R.1, M.F.R.3, M.N.F.R.1, M.N.F.R.2, M.N.F.R.4<\/td><\/tr><tr><td>Elements<\/td><td>Subsystems &#8211; SLAM, Planning, UI and Data Management (if present)<\/td><\/tr><tr><td>Location<\/td><td>NSH A Level<\/td><\/tr><tr><td>Equipment<\/td><td>Locobot, A1-Unitree, and Base Station (if using the Data Management block)<\/td><\/tr><tr><td>Personnel<\/td><td>All 4 team members<\/td><\/tr><\/tbody><\/table><\/figure>\n<\/div><\/div>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>Procedure<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>                        <ul><li>A map of the testing area that has been pre-built using the SLAM subsystem will be loaded                         <\/li><li>The instructors will pick a start and goal location<\/li><li>The wheeled robot will be placed at the start location<\/li><li>All subsystems will be started<\/li><li>Run the navigation stack, continuously visualizing the global and local path, and the robot position<\/li><li>Robot reaches the goal location         <\/li><li>Repeat the above steps for the legged robot<\/li><\/ul><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table class=\"has-white-background-color has-background\"><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>Verification<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><ul><li>The planner adapts to different obstacle maps and varying robot parameters and generates a path that does not violate the following capability limitations:                                                              <ul><li>Freely Steppable Object Height* (FSOH) &#8211; The robot can easily step over the object of height below this threshold.<\/li><li>Robot Radius &#8211; The radius of the circular approximation of the robot<\/li><\/ul><\/li><li>The robots are able to follow the generated plan and follow it without crashing or colliding with obstacles<\/li><li>The UI and visualization should work as intended             <\/li><\/ul><\/td><\/tr><\/tbody><\/table><\/figure>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<p><a href=\"https:\/\/docs.google.com\/document\/d\/1IGSpzn8nvA89FdDwkcZ0hcPob-Po0viYX94GpTNhvz4\/edit?usp=sharing\">Full Test Plan for Spring<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>Spring Validation<\/strong><\/h2>\n\n\n\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<figure class=\"wp-block-table is-style-stripes\"><table class=\"has-white-background-color has-background\"><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>Objective<\/strong><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">To demonstrate the progress made over the course of this semester in our Hardware Agnostic Path Planner and SLAM subsystem.<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table class=\"has-white-background-color has-background\"><tbody><tr><td>Requirements<\/td><td>M.F.R.2, M.F.R.3, M.F.R.1, M.N.F.R.1, M.N.F.R.4<\/td><\/tr><tr><td>Elements<\/td><td>Subsystems &#8211; SLAM, Planning<\/td><\/tr><tr><td>Location<\/td><td>NSH<\/td><\/tr><tr><td>Equipment<\/td><td>Base Station, Locobot with an onboard computer (Nvidia Xavier), Realsense D435.<\/td><\/tr><tr><td>Personnel<\/td><td>All 4 team members<\/td><\/tr><\/tbody><\/table><\/figure>\n<\/div><\/div>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>Procedure<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>PART A:<\/strong>                                              <ul><li>Locobot is placed at the start of a predefined trajectory that it will follow using teleoperation.<\/li><li>The SLAM subsystem is started, and we move the robot along the predefined trajectory<\/li><li>The SLAM subsystem would generate the map incrementally, which will be visualized on the ground station computer in real-time.<\/li><li>Additionally, we will visualize the trajectory calculated by the SLAM subsystem\u2019s localization module, alongside the ground-truth trajectory on the ground station computer in real-time<\/li><li>At the end of the trajectory, we will also calculate and show the relative pose error in translation and rotation<\/li><\/ul><strong>PART B:<\/strong>                   <ul><li>We will have a set of predefined obstacle maps in a simulator\/visualizer<\/li><li>We will also have a set of robot parameters representing different types of robots.<\/li><li>We will run our hardware-agnostic path planner with combinations of these obstacle maps and robot parameters<\/li><li>We will then visualize the path generated by the planner for each of these combinations<\/li><\/ul><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table class=\"has-white-background-color has-background\"><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>Verification<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>PART A:<\/strong>                                              <ul><li>The SLAM subsystem would generate an HD map of the area that the robot covers.<\/li><li>The localization module\u2019s relative translational pose error is less than 15 cm, and the relative rotational pose error is less than 10 degrees<\/li><\/ul><strong>PART B:<\/strong>                     <ul><li>The planner adapts to changes in the obstacle map and the robot parameters and generates a path that leverages each robot\u2019s capabilities.<\/li><\/ul><\/td><\/tr><\/tbody><\/table><\/figure>\n<\/div><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Full Test Plan for Fall Fall Validation Objective To demonstrate the entire navigation system on both the locobot and A1-Unitree Requirements M.F.R.1, M.F.R.3, M.N.F.R.1, M.N.F.R.2, M.N.F.R.4 Elements Subsystems &#8211; SLAM, Planning, UI and Data Management (if present) Location NSH A Level Equipment Locobot, A1-Unitree, and Base Station (if using the Data Management block) Personnel All &#8230; <a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/test-plan\/\" class=\"more-link text-uppercase small\"><strong>Continue Reading<\/strong> <i class=\"fa fa-angle-double-right\" aria-hidden=\"true\"><\/i><\/a><\/p>\n","protected":false},"author":337,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-80","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/pages\/80","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/users\/337"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/comments?post=80"}],"version-history":[{"count":15,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/pages\/80\/revisions"}],"predecessor-version":[{"id":535,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/pages\/80\/revisions\/535"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/media?parent=80"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}