This repository was archived by the owner on Jan 2, 2024. It is now read-only.
This repository was archived by the owner on Jan 2, 2024. It is now read-only.
Add ability to corrupt/break sensors #262
Description
Modify MOCK_sensors.py so that we can easily break a sensor so we can validate our performance with a broken sensor in real testing.
Involves 4 files to change:
MOCK_sensors.py
Look for
self.publisher.publish(data)
Then above, modify data conditionally on parameters. (one for each sensor)
Something like
if rospy.get_param('corrupt_w', default=False):
rospy.logwarn("MOCK sensors publishing broken wind sensor")
data.wind_sensor_1_angle_degrees = 0
Other things are launch files. Main thing to change in in MOCK_sensors.launch
Follow this as an example:
<!-- Sets if changes in heading and speed should be smooth or not -->
<arg name="smooth_changes" default="true" />
<param name="smooth_changes" type="bool" value="$(arg smooth_changes)" />
Also need to modify all.launch and launch_all_mocks.launch, as they "pass in parameters" to each other
Eg.
<arg name="sensor_noise" default="false" />
<include file="$(find local_pathfinding)/launch/launch_all_mocks.launch">
...
<arg name="sensor_noise" value="$(arg sensor_noise)" />
...
</include>
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