readme2_tests.md

2. Tests to run on my laptop

$ roscd simon_says

2.1 Test if connection is OK:

$ rostopic list
$ rostopic echo /odom
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

2.2 Test realsense camera

$ roslaunch simon_says rviz_realsense.launch

2.3 Test control algorithm

In src/turtlebot_control/lib_turtlebot.py, set "IF_IN_SIMULATION = False".
Then:

$ rosrun simon_says move_turtle_to_pose.py

2.4 Use recorded images to replace RealSense Camera

rosrun this script: src/realsense_io/fake_rgbd_image_publisher.py
It reads in color/depth images from the disk and publishes them with the same format as RealSense Camera.

3. Other commands for testing

• Test robot controller in simulation

  In lib_turtlebot.py, set "IF_IN_SIMULATION = True" to test the robot in simulation.
  In move_turtle_to_pose.py, in the "def main(" function, select a test case to test.

  Then:

  $ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
  $ rosrun simon_says move_turtle_to_pose.py