Control integration testing

[AbBaSaMo]

Overview

Control systems are defined by software as the following aspects of the stack: the component that facilitates drive wheels spinning i.e. ros2_control including the MCU_interface hardware component. Almost all of this will be abstracted in the sense that electrical will handle its implementation and software will only have had to configure the launch files for ros2_control.

The rest of control is also abstracted in the sense that software's stack does not touch or care about it including: the safety light, hand held controller, autonomous mode flags.

This task requires all such control components handled by software AND electrical to be running at once and for all acceptance criteria for tasks related to the components to have passed while they are all running.

DO NOT CONDUCT CONTROL INTEGRATION TESTING WHILE E-STOP AND MECHANICAL STOP ARE NOT WORKING

Relevant resources

Refer to the following issues

• ROS2_control setup #65

Acceptance criteria

Acceptance criteria is the fulfilment of all criteria as defined for the below issues but while everything is running

• ROS2_control setup #65

Todo

• Determine a time with electrical and mechanical to conduct this testing
• Develop a plan on where and how the vehicle will be tested to ensure safety
• Send cmd_vel messages and verify that the vehicle fulfils all acceptance criteria