Clearpath Tests

This package contains tests for validating hardware & software performance of supported Clearpath Robotics’ platforms.

Usage

To run the tests, SSH into the robot and run

ros2 run clearpath_tests all_tests

If your setup_path is not /etc/clearpath, specify the correct path with

ros2 run clearpath_tests all_tests --ros-args -p setup_path:=/path/to/setup_dir

Pre-test preparation

Tests require that the robot be mobile; ensure that the robot can travel 5m in a straight line and perform two complete on-the-spot rotations without colliding with anything, pulling cables, etc….

Output

The summary of test results is printed to stdout, but the full test report will be saved to /tmp/clearpath_test_results.YYYYMMDDhhmm.md.

Markdown (.md) files can be opened in any normal text editor, or can be renders with a markdown viewer plugin for Chrome or Firefox.

Changelog for package clearpath_tests

2.6.2 (2025-07-15)

2.6.1 (2025-07-04)

2.6.0 (2025-07-04)

• Fix expected number of CAN devices for W200 tests (#241)
• Add wireless e-stop test to W200 tests (#240)
• Feature/expand diagnostic test (#236)
  • Remove diagnostic exceptions
  • Check for stale diagnostics
  • Ignore mecanum drive bug for now
• Enable wireless e-stop test on W200 (#226) W200 includes a wireless e-stop (non-optional) that should be included in the tests.
• Fix clearpath_tests so they don't crash/hang under certain conditions, remove unnecessary code (#220)
  • Add a new class to handle timeouts to reduce duplication
  • Remove node-specific mains, remove .start() from the TestNode class
  • Implement timeout in MCU test so it doesn't hang forever
  • Remove unnecessary functions from canbus test
  • Implement the new timeout for estop tests. Add an abort() method to kill long-running threads so we don't block for too long. Remove unused import
  • Implement new timeout in linear acceleration test
  • Implement new timeout in rotation test
  • Fix a parser error that occurs if wifi is turned off
  • Move motor currents initialization to constructor, call .start() in the linear acceleration test
  • Change how we calculate the IMU inclination; calculate the inclination and calculate the error based on that, rather than percentage error bars based on the vector
  • Fix the logging for the linear acceleration test
  • Test the direction & magnitude of the angular velocity separately. Fix some extra parentheses in the results
• Contributors: Chris Iverach-Brereton, Hilary Luo

2.5.1 (2025-06-17)

2.5.0 (2025-05-29)

2.4.1 (2025-05-20)

2.4.0 (2025-04-30)

• Fix A300 fans test (#204)
• Add additional allowed warnings/errors for specific platforms (#202)
• Reduce strafe distance, increase strafe speed (#203)
• Move clearpath_tests into clearpath_robot (#201)
• Contributors: Chris Iverach-Brereton

2.3.3 (2025-04-24)

• Re-implement rotation test, add linear acceleration test, add motor-cutoff tests for dingo & jackal (#7)
  • Re-implement the rotation test to be an IMU check instead of odometry
  • Re-enable rotation tests for all platforms with an integrated IMU. Add IMU tilt test to Dingo variants
  • Clarified log messages, use consistent accuracy vs error terminology
  • Allow wider margins on the Jackal IMU tests, as it is a component with known lower quality
  • Minor code cleanup & refactoring for consistency
  • Add motor-cutoff tests for Jackal, Dingo
• Fixed topic of fans test. (#6)
• Contributors: Chris Iverach-Brereton, Tony Baltovski

2.3.2

2.3.1 (2025-04-10)

• Fix a bug where the e-stop test could cause the test node to crash
• Add a 2s delay between clearing the e-stop and moving the wheels to allow CAN reconnections as needed
• Remove CAN device ID count for platforms that don't use CANopen
• Lower the time threshold for linear drive test to 0.75 (from 0.8)
• Change the default serial device for Jackal
• Contributors: Chris Iverach-Brereton

2.3.0 (2025-04-03)

• Allow symlinks to the device handle
• Fix serial MCU tests
• Ensure the firmware is 2.3 or higher to allow fan control; otherwise just skip the fan test

File truncated at 100 lines see the full file