clearpath_tests.mobility_test module

class clearpath_tests.mobility_test.MobilityTestNode(*args: Any, **kwargs: Any)

Bases: ClearpathTestNode

Generic class for all tests that involve driving the robot with odometry feedback.

calculate_average_motor_currents()

get_test_result_details()

Get additional details about the test results.

These details get included in the report, but are not printed out.

If the test does not support additional details, simply return None

lynx_callback(lynx_status: clearpath_motor_msgs.msg.LynxSystemProtection)

odom_callback(odom_msg)

on_lynx_status(lynx_status: clearpath_motor_msgs.msg.LynxMultiFeedback)

on_puma_status(puma_status: clearpath_motor_msgs.msg.PumaMultiFeedback)

publish_callback()

start()

Run this node normally as a standard ROS node without any user interaction.

This function must be implemented by all children