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rosbot_gazebo/test/test_utils.py

@@ -204,7 +204,6 @@ def wait_for_initialization(node: SimulationTestNode, robot_name="ROSbot"):
 
 def x_speed_test(node: SimulationTestNode, v_x=0.0, v_y=0.0, v_yaw=0.0, robot_name="ROSbot"):
     node.set_destination_speed(v_x, v_y, v_yaw)
-    # node.rate.sleep()
     assert node.vel_stabilization_time_event.wait(20.0), (
         f"{robot_name}: The simulation is running slowly or has crashed! The time elapsed"
         " since setting the target speed is:"
@@ -277,18 +276,18 @@ def sensors_readings_test(node: SimulationTestNode, robot_name="ROSbot"):
 
 def diff_test(node: SimulationTestNode, robot_name="ROSbot"):
     wait_for_initialization(node, robot_name)
-    # 0.8 m/s and 3.14 rad/s are controller's limits defined in
+    # 0.9 m/s and 3.0 rad/s are controller's limits defined in
     # rosbot_controller/config/mecanum_drive_controller.yaml
-    x_speed_test(node, v_x=0.8, robot_name=robot_name)
-    yaw_speed_test(node, v_yaw=3.14, robot_name=robot_name)
+    x_speed_test(node, v_x=0.9, robot_name=robot_name)
+    yaw_speed_test(node, v_yaw=3.0, robot_name=robot_name)
     sensors_readings_test(node, robot_name)
 
 
 def mecanum_test(node: SimulationTestNode, robot_name="ROSbot"):
     wait_for_initialization(node, robot_name)
-    # 0.8 m/s and 3.14 rad/s are controller's limits defined in
+    # 0.9 m/s and 3.0 rad/s are controller's limits defined in
     # rosbot_controller/config/mecanum_drive_controller.yaml
-    x_speed_test(node, v_x=0.8, robot_name=robot_name)
-    y_speed_test(node, v_y=0.8, robot_name=robot_name)
-    yaw_speed_test(node, v_yaw=3.14, robot_name=robot_name)
+    x_speed_test(node, v_x=0.9, robot_name=robot_name)
+    y_speed_test(node, v_y=0.9, robot_name=robot_name)
+    yaw_speed_test(node, v_yaw=3.0, robot_name=robot_name)
     sensors_readings_test(node, robot_name)