ais_file - sets AIS boat positions, speeds, and directions
gps_file - sets sailbot's initial position latlon
goal_file - sets the goal latlon (note: this is the final goal, not necessarily the first waypoint of the global path if it is sufficiently far away from the sailbot start
wind_file - sets the initial wind speed and direction
- Source the workspace
- Navigate to a json test directory eg:
cd json/obstacles-currently-btwn-moving-away_goal-south_wind-east - Run pathfinding with the json files in this directory:
roslaunch local_pathfinding all.launch ais_file:=$(pwd)/myAIS.json gps_file:=$(pwd)/myGPS.json goal_file:=$(pwd)/myGoal.json wind_file:=$(pwd)/myWind.json
Each test directory name describes the obstacles, goal, and wind setup for each test.
You can create your own unit test files by copying the json files here, or by starting a simulation and then running (in another terminal) rosrun local_pathfinding json_dumper.py, which will save the current AIS and GPS conditions into files in your current directory.