No response on kobuki_testsuite test_rotation.py and test_translation.py

[lukelu]

Dear kobuki friends,

We went through testsuite and everything works great except below two tests:

rosrun kobuki_testsuite test_rotation.py
rosrun kobuki_testsuite test_translation.py

Above two tests have no physical response, though it prints out messages on screen, for example of test_rotation.py:

SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
self.pub_cmd = rospy.Publisher(cmd_vel_topic,Twist)
SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
self.pub_log = rospy.Publisher(log_topic,String)
[INFO] [1596667148.692194]: Start to rotate
[INFO] [1596667149.602163]: Rotate: 1
[INFO] [1596667149.608840]: Rotate: 1
[INFO] [1596667149.808800]: Rotate: 1
[INFO] [1596667150.008809]: Rotate: 2
[INFO] [1596667150.208810]: Rotate: 2
[INFO] [1596667150.408935]: Rotate: 2
[INFO] [1596667150.608824]: Rotate: 2
[INFO] [1596667150.808816]: Rotate: 2
[INFO] [1596667151.008968]: Rotate: 3
[INFO] [1596667151.208967]: Rotate: 3
[INFO] [1596667151.408913]: Rotate: 3
[INFO] [1596667152.459109]: Rotate: 4
[INFO] [1596667152.466288]: Rotate: 4
[INFO] [1596667152.666819]: Rotate: 4
[INFO] [1596667152.866868]: Rotate: 4
[INFO] [1596667153.066782]: Rotate: 5
[INFO] [1596667153.266745]: Rotate: 5
[INFO] [1596667153.466691]: Rotate: 5
[INFO] [1596667153.666672]: Rotate: 5
[INFO] [1596667153.866692]: Rotate: 5
[INFO] [1596667154.067029]: Rotate: 6
[INFO] [1596667154.266812]: Rotate: 6
[INFO] [1596667155.317883]: Rotate: 7
[INFO] [1596667155.323798]: Rotate: 7
[INFO] [1596667155.524237]: Rotate: 7
[INFO] [1596667155.724260]: Rotate: 7
[INFO] [1596667155.924364]: Rotate: 7
[INFO] [1596667156.124154]: Rotate: 8
[INFO] [1596667156.324472]: Rotate: 8
[INFO] [1596667156.524279]: Rotate: 8
[INFO] [1596667156.724137]: Rotate: 8
[INFO] [1596667156.924448]: Rotate: 8
[INFO] [1596667157.124222]: Rotate: 9
[INFO] [1596667158.179885]: Rotate: 10
[INFO] [1596667158.187312]: Rotate: 10
[INFO] [1596667158.387787]: Rotate: 10
[INFO] [1596667158.587597]: Rotate: 10
[INFO] [1596667158.705040]: Stop rotating

We also tested roslaunch kobuki_keyop safe_keyop.launch --screen , the control works great. So were wondering why simpler test_rotation.py and test_translation.py don't work. (We are using Ubuntu 18.04 + Melodic)

Hope to hear your expertise.

-- Luke

[Jorge Santos Simón]

I did that test suite like three lifes ago...
If I remember properly, we tested rotation and translation by placing a calibration checkboard pattern on top of Kobuki and monitoring its movements with a camera placed above. So the scripts you mention just make the robot move; you need the camera setup to check its correctness.

[Isaac Saito]

Another user may have a similar/same question answers.ros.org#415112.