codetiger
2eb6b6ce42
Move integration test harness from tests/integration/ to src/harness/ as a feature-gated library module, enabling use by examples and tools. - Add pub mod harness (behind integration-tests feature) - Reorganize data files into data/maps/ and data/scenarios/ - Convert integration test to exploration example - Remove test-only boilerplate (mod.rs, yaml_tests.rs)
58 lines
1.5 KiB
YAML
58 lines
1.5 KiB
YAML
# Long Path Drift Test
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#
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# Tests cumulative drift over extended motion (20m total path).
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# In a large room, the robot makes a zigzag pattern to cover distance
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# while staying within bounds.
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#
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# Expected behavior:
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# - Position error should grow slowly (< 0.75% of distance traveled)
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# - After 20m, error should be < 15cm
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# - ICP should maintain convergence throughout
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#
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# Map: 12m x 12m large empty room
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# Path: Zigzag covering ~20m total distance
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name: "drift_long_path"
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map: "../maps/large_room.yaml"
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start_pose:
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x: 2.0
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y: 6.0
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theta: 0.0 # Facing +X
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path:
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# Leg 1: 4m forward (now at x=6, y=6)
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- {left: 4.0, right: 4.0, speed: 0.5}
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# Turn 90 degrees CCW (now facing +Y)
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- {left: -0.183, right: 0.183, speed: 0.4}
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# Leg 2: 4m forward (now at x=6, y=10)
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- {left: 4.0, right: 4.0, speed: 0.5}
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# Turn 90 degrees CW (now facing +X)
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- {left: 0.183, right: -0.183, speed: 0.4}
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# Leg 3: 4m forward (now at x=10, y=10)
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- {left: 4.0, right: 4.0, speed: 0.5}
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# Turn 90 degrees CW (now facing -Y)
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- {left: 0.183, right: -0.183, speed: 0.4}
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# Leg 4: 2m forward (now at x=10, y=8)
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- {left: 2.0, right: 2.0, speed: 0.5}
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# Turn 90 degrees CW (now facing -X)
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- {left: 0.183, right: -0.183, speed: 0.4}
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# Leg 5: 4m forward (now at x=6, y=8)
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- {left: 4.0, right: 4.0, speed: 0.5}
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# Turn 90 degrees CCW (now facing -Y)
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- {left: -0.183, right: 0.183, speed: 0.4}
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# Leg 6: 2m forward (final position at x=6, y=6)
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- {left: 2.0, right: 2.0, speed: 0.5}
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# Total: 4+4+4+2+4+2 = 20m of travel
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