AMR Functionality Test (Step 3)

To perform door request, lift request and robot loop request

Door requests

source /opt/ros/foxy/setup.bash
source <company_name>_ws/install/setup.bash
python3 ~/AMR_S3_FuncTest_ws/src/functionality_test/functionality_test/test_door_request.py \
	<door_name> <requested_id> <door_mode>
	
# door mode: MODE_CLOSED = 0; MODE_MOVING = 1; MODE_OPEN = 2; MODE_OFFLINE = 3; MODE_UNKNOWN = 4

Lift requests

source /opt/ros/foxy/setup.bash
source <company_name>_ws/install/setup.bash
python3 ~/AMR_S3_FuncTest_ws/src/functionality_test/functionality_test/test_lift_request.py \
	<lift_name> <session_id> <request_type> <destination_floor> <door_state>
	
# request type: REQUEST_END_SESSION = 0; REQUEST_AGV_MODE = 1; REQUEST_HUMAN_MODE = 2
# door_state: DOOR_CLOSED = 0; DOOR_OPEN = 2

Loop requests

source /opt/ros/foxy/setup.bash
source <company_name>_ws/install/setup.bash
python3 ~/AMR_S3_FuncTest_ws/src/functionality_test/functionality_test/test_loop_request.py \
	<start_name> <finish_name> <robot_type> <num_loops>