Mock Testing

Mock Testing

The repository includes a local mock perception implementation for testing the FSM without the real perception stack.

Mock perception server

File:

• src/mock_perception_server.py

Run:

ros2 run pick_place_fsm mock_perception_server

Supported mock tasks

Current mock tasks:

• subdoor_pose
• car_objects
• place_object
• detect_screwdriver

Supported mock object classes

For car_objects, the mock supports:

• unit
• speaker
• motor_grip

Typical local test setup

Use multiple terminals:

1. simulated Eddie
2. mock_perception_server
3. screwdriver_pick
4. raster_scanner if needed
5. door_disassemble

Useful manual checks

List actions:

ros2 action list
ros2 action info /run_perception_pipeline

Manual subdoor request:

ros2 action send_goal /run_perception_pipeline my_robot_interfaces/action/RunVision "{task_name: subdoor_pose, object_class: '', time_duration: 0.0}"

Manual screwdriver request:

ros2 action send_goal /run_perception_pipeline my_robot_interfaces/action/RunVision "{task_name: detect_screwdriver, object_class: '', time_duration: 0.0}"