{"id":25,"date":"2025-12-24T15:36:08","date_gmt":"2025-12-24T15:36:08","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/test-plan\/"},"modified":"2026-09-17T22:15:31","modified_gmt":"2026-09-17T22:15:31","slug":"test-plan","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/project-management-2\/test-plan\/","title":{"rendered":"Test Plan"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Spring Validation Test Plan<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>Feb 13 \u2014 Progress Review 1<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Localization:<\/strong> Preliminary GNSS RTK and data collection (T.L.1)<\/li>\n\n\n\n<li><strong>Mechanical:<\/strong> Preliminary planting mechanism design.<\/li>\n\n\n\n<li><strong>Navigation:<\/strong> Simulation setup for path planning.<\/li>\n\n\n\n<li><strong>Perception:<\/strong> Collect images for seedling detection model training.<\/li>\n\n\n\n<li><em>Requirements Addressed: MF1, MF2, MN6<\/em><\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>Feb 27 \u2014 Progress Review 2<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Localization:<\/strong> Establish GNSS-only localization publishing to ROS2.<\/li>\n\n\n\n<li><strong>Planting Mechanism:<\/strong> Auger and chute vertical actuation verification; horizontal actuation design; Arm motion waypoint verification (T.A.1, T.M.1).<\/li>\n\n\n\n<li><strong>Navigation:<\/strong> Test trajectory planning in simulation.<\/li>\n\n\n\n<li><strong>Perception:<\/strong> Test seedling detection and obstacle detection in simulation (T.P.1).<\/li>\n\n\n\n<li><em>Requirements Addressed: MP6.1, MP7, MP8, MN1, MN6<\/em><\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>Mar 20 \u2014 Progress Review 3<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Localization:<\/strong> Set up FAST-LIO2 and sensor fusion (T.L.3).<\/li>\n\n\n\n<li><strong>Planting Mechanism:<\/strong> Finalize horizontal\/vertical actuation; Complete pick-and-place maneuver with end-effector (T.M.2).<\/li>\n\n\n\n<li><strong>Navigation:<\/strong> Test obstacle avoidance and costmap building (T.P.2).<\/li>\n\n\n\n<li><em>Requirements Addressed: MF1-5, MP2, MN6, MN4, MP12, MN2<\/em><\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>Apr 03 \u2014 Progress Review 4<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Planting Mechanism:<\/strong> Full ROS2 integration; In-lab and field testing in <strong>Schenley Park<\/strong> (T.M.3, T.M.4, T.A.2).<\/li>\n\n\n\n<li><strong>Navigation:<\/strong> Test forest\/route planning and trajectory in Schenley Park (T.N.1, T.N.2).<\/li>\n\n\n\n<li><em>Requirements Addressed: MP12.1, MN1, MN4, MN6<\/em><\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>Apr 16 \u2014 System Validation Demonstration (SVD)<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Full Autonomy:<\/strong> System achieves full autonomous navigation and planting.<\/li>\n\n\n\n<li><em>Requirements Addressed: MF1-7, MN3, MN4, MN6, MN7<\/em><\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading\">Fall Validation Test Plan<\/h2>\n\n\n\n<p><strong>Sept 9 \u2014 PR7<\/strong><\/p>\n\n\n\n<p>Field test and redo SVD dry run<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Tamping<\/strong>: tamper designed<\/li>\n\n\n\n<li><strong>Obstacle avoidance\/navigation replanning<\/strong>: test ground segmentation and evaluate problems<\/li>\n\n\n\n<li><strong>Navigation debugging<\/strong>: test one seedling, test multiple locationsFeedback control digging: buy force sensor<\/li>\n\n\n\n<li><strong>UI monitor<\/strong>: identify needed components, set up spreadsheet of needed ROS2 topics<\/li>\n\n\n\n<li><strong>Manipulation<\/strong>: test deterministic arm motion planning (as implemented for the SVD)<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-table is-style-regular\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>Sept 23 \u2014 PR8<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Tamping<\/strong>: tamping prototype developed<\/li>\n\n\n\n<li><strong>Obstacle avoidance\/navigation replanning<\/strong>: ground segmentation tested and working; navigation replanning implemented in code<\/li>\n\n\n\n<li><strong>Navigation debugging<\/strong>: fixes from PR7 validated<\/li>\n\n\n\n<li>User interface monitor: ROS2 topics mapped out<\/li>\n\n\n\n<li><strong>Manipulation<\/strong>: five storage locations set on robot; five-seedling deterministic sequence complete; arm-FSM integration working<\/li>\n\n\n\n<li><strong>Feedback control digging<\/strong>: force sensor in place and connected to Arduino; 5+ tests run across surface hardnesses to determine threshold<\/li>\n<\/ul>\n\n\n\n<p><strong>Oct 7  \u2014 PR9<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Integration <\/strong>of manipulation, tamping, and feedback-control digging<\/li>\n\n\n\n<li><strong>Obstacle avoidance\/navigation replanning<\/strong>: full navigation and obstacle avoidance integrated and tested<\/li>\n<\/ul>\n\n\n\n<p><strong>Oct 11 <strong>\u2014<\/strong><\/strong> <strong>Fall Break<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Full system integrated<\/strong>: full navigation and obstacle avoidance, functional tamping, deterministic seedling manipulation<\/li>\n<\/ul>\n\n\n\n<p><strong>Oct 28  \u2014 PR10<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Improved <\/strong>system performance<\/li>\n<\/ul>\n\n\n\n<p><strong>Nov 11  \u2014 PR11<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>FVD rehearsal<\/strong><\/li>\n<\/ul>\n\n\n\n<p><strong>Nov 19 \u2014 FVD<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Fall Validation Demonstration:<\/strong> full autonomous system navigates, avoids obstacles, digs, plants, and tamps seedlings across multiple locations<\/li>\n<\/ul>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Spring Validation Test Plan Feb 13 \u2014 Progress Review 1 Feb 27 \u2014 Progress Review 2 Mar 20 \u2014 Progress Review 3 Apr 03 \u2014 Progress Review 4 Apr 16 \u2014 System Validation Demonstration (SVD) Fall Validation Test Plan Sept [&hellip;]<\/p>\n","protected":false},"author":476,"featured_media":0,"parent":10,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-25","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/wp-json\/wp\/v2\/pages\/25","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/wp-json\/wp\/v2\/users\/476"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/wp-json\/wp\/v2\/comments?post=25"}],"version-history":[{"count":7,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/wp-json\/wp\/v2\/pages\/25\/revisions"}],"predecessor-version":[{"id":494,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/wp-json\/wp\/v2\/pages\/25\/revisions\/494"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/wp-json\/wp\/v2\/pages\/10"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamj\/wp-json\/wp\/v2\/media?parent=25"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}