Compatibility tests - sensors data publishers

[WJaworskiRobotec]

Description

Preparation of second batch of tests related to publication of sensor data by the simulator. Important to have a definition of topics, message types in the configuration file to easily change the number of published lidars/cameras

Purpose

To evaluate the sensor data published by the simulators

Definition of Done

• PR created
• Tests verified in AWSIM and MORAI SIM

[SoohyeokPark-MORAI]

I am planning to start this Friday.
I made a sample configuration file that includes sensor-related publishers and publishers and subscribers just in case.
sample configuration file link

[SoohyeokPark-MORAI]

camera, gps (gnss pose, pose with covariance), imu are under tests with MORAI SIM.

[WJaworskiRobotec]

@SoohyeokPark-MORAI Is the PR for these tests ready ?

[SoohyeokPark-MORAI]

@WJaworskiRobotec Here I share the link PR link

[WJaworskiRobotec]

@SoohyeokPark-MORAI thanks a lot, Have you tested it with AWSIM ?

[SoohyeokPark-MORAI]

@WJaworskiRobotec I tried it with AWSIM but found an issue related to LIDAR whose data is not received.

[WJaworskiRobotec]

OK I will check it with AWSIM with modified QoS

[WJaworskiRobotec]

I have managed to make it work with AWSIM with some changes that I will push to the repo.

*4 failed tests for lidars are related to left and right sensors not included in the binary that I've tested

[Hyeongseok-Jeon]

MORAI update

• I started to look the compatibility test code from @SoohyeokPark-MORAI
• I could not specify the sensor configuration file yet

[WJaworskiRobotec]

@Hyeongseok-Jeon any progress in this task ?