PreFlight

[Keith-Khadar]

Description

Preflight is an automated testing tool that should be run after turning on and connecting to the robot to run a prelaunch setup checklist and automated software checklist.

There are three types of automated software tests
Actuators
This test will prompt the user to enable physical moving actuators on the robot. Make sure that the area is cleared and the robot won't damage itself or others nearby. The user will have to watch and validate that they move as expected personally.

To add an actuator test, add a topic with a list of commands and import the module it comes from. See the thrusters example for reference in tests.py

Nodes
A ROS Node is a live process currently running and performing a task. They communicate with each other through topics, services, and messages, etc. This test will ensure all listed ROS Nodes are running and alive as expected.

To add a Node test, add a node to the list in tests.py

Topics
ROS Topics act as a channel for ROS Nodes to communicate by publishing and subscribing to messages. These tests check to verify that data is being published to these topics, ensuring that sensors under the listed topics are properly reading publishing data.

To add a Topic test, add a topic to the list in tests.py

Screenshot or Video

https://youtu.be/3IiYBaeIt7s

Related Issues

- Closes #1032
- Closes #1115
- Closes #1116
- Closes #1117
- Closes #1118

Testing

To test this use the preflight alias to start up the program. This works best when ROS is already running, however you can still go through the setup checklist without ROS running. To edit any of the checklists to add more items to check whether that is automated software items or more setup items go to ~/catkin_ws/src/mil/mil_common/utils/mil_tools/scripts/mil-preflight/tests.py

About This PR

• I have updated documentation related to this change so that future members are aware of the changes I've made.

[uf-mil-bot]

Hello, it's your friendly InvestiGator bot here!

The docs preview for this PR is available at https://uf-mil.github.io/pr-docs/1157.

Last updated at:
► e945c920034504421c9b760ef680d889417afdc4
► 2024-03-29 21:39 EDT

Have a great day! Go gators! 🐊

[cbrxyz]

wow, this project is so so cool! Thanks so much for your hard work!!

[cbrxyz]

Great job PreFlight team!