Addresses #99. Adds the pitchmass + vbs depth. #105
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Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
… narrowed down. Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
chapulina
approved these changes
Dec 1, 2021
| { | ||
| // Vehicle should dive down. | ||
| EXPECT_LT(pose.Pos().Z(), 0.1); | ||
| // FIXME(arjo): This should dive to a max of 10m I think |
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That's my understanding too reading the mission file:
<DefineArg Name="DepthCmd"><Units:meter/><Value>10.0</Value></DefineArg>
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So after after a short discussion with @braanan it seems that the normal mode of using VBS to sink does lead to certain behaviors such as spinning and reverse motion. Therefore, MBARI normally uses both the mass shifter and the buoyancy engine to get the vehicle to sink. MBARI has a mission which does this already, however we aren't actually running this in CI. This PR runs this in CI.
Note: As the model in the main repo is not actually up to the mark, it does not perform properly on this test. Hence the expectations have been kept large. However when combined with some of the changes ion #89 and #59 it is possible to narrow the expectations down.