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)
25 lines
587 B
YAML
25 lines
587 B
YAML
# Static Scan Test
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#
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# Robot stays stationary for 5 seconds while continuously scanning.
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# Uses the stop command for clean static observation.
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#
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# At 5Hz lidar rate, this produces ~25 scans.
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# Expected: Position error < 10cm, orientation error < 5 degrees
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#
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# Use this to verify:
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# - Feature extraction consistency
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# - ICP convergence behavior
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# - Map building accuracy without motion
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name: "static_scan_5s"
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map: "../maps/medium_room.yaml"
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start_pose:
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x: 4.0
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y: 4.0
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theta: 0.0 # Facing right (+X), center of 8m x 8m room
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path:
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# Stay stationary for 5 seconds
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- {stop: 5.0}
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