sick_scan_test.md

sick_scan_test

Devel-Branch

Table of contents

• Structure Test Control File
• Structure Test Result File
• Creators

Overview

The sick_scan_test program was developed for testing the driver. This program checks elementary properties of the scanner. In a first implementation stage, the shots per scan are checked. The test program works according to the following principle:

1. The parameters from an original launch file are read.
2. These parameters are modified according to the instructions in the test control file.
3. The modified parameters including all other parameter settings from the original launch file are copied to a test launch file.
4. The test launch file is started.
5. The parameters are checked.
6. The result of the check is transferred to a result file. The basic procedure can be seen in the following figure:

Structure Test Control File

The following XML is an example of a test control file:

<?xml version="1.0" encoding="UTF-8"?>
<launch>
	<filename>sick_tim_5xx.launch</filename>
	<paramList>
		<!-- Set the ip address to the ip address of our TiM scanner -->
	<param name="hostname" type="string" value="192.168.0.61" />
	</paramList>
	<resultList>
		<param name="shotsPerLayer" type="int" value="811" />
	</resultList>
</launch>

Explanation: The XML file contains the two blocks paramList and resultList. The parameters to be overwritten in the launch file are specified in the paramList block. The corresponding launch file is referenced by the entry filename. The resultList block specifies which measured values are expected. In a first approach, the parameter shotsPerLayer is checked here.

Structure Test Result File

The following XML is an example of a result file:

<?xml version="1.0" encoding="UTF-8"?>
<launch>
	<filename>sick_tim_5xx.launch</filename>
	<paramList>
		<!-- Set the ip address to the ip address of our TiM scanner -->
	<param name="hostname" type="string" value="192.168.0.61" />
	</paramList>
	<resultList>
		<param name="shotsPerLayer" type="int" value="811"  errorCode="0" errorMsg="OK" />
	</resultList>
</launch>

Explanation: The result XML file corresponds to the control file. The errorCode and errorMsg attributes are added to the parameters in the resultList block. A simple grep command with "errorCode" can be used to check the test result after the test has been performed.

Creators

Michael Lehning

• http://www.lehning.de

on behalf of SICK AG

• http://www.sick.com

---