6. Software Testing

• 6.1. Prerequisites
• 6.2. Check Camera Perception functionality and plausibility
  • 6.2.1. Using a recorded rosbag
  • 6.2.2. Using live images from the zed camera
• 6.3. Check Local Mapping functionality and plausibility
  • 6.3.1. Using a recorded rosbag
  • 6.3.2. Using live images from the zed camera
• 6.4. Test the pipeline for driving a mission
  • 6.4.1. Prerequisites
  • 6.4.2. Running the pipeline

6.5. Check the pipeline for running successfully for different missions

Especially after changing any code or before a testday, you should test, that the pipeline can drive all the missions.

Since this is more complex that the plausibility check for the camera perception and local mapping they will be explained on seperate pages.

Those tests will currently not test that the missions machine and can interface works. It also obviously is not a closed loop simulation.