.. _test_bench_parameters:

Test Bench Parameters
=====================

Within a Test Bench canvas, specific Parameters may be used to configure the Test Bench workflow.

URDF File
---------

+-------------+-----------+------------------------------------------------+
| Parameter   | Value     | Description                                    |
+=============+===========+================================================+
| fixed_model | True      | Method used to map parameter into ROS Node     |
+-------------+-----------+------------------------------------------------+

ROS Launch File
---------------

+-------------+------------------------+-------------------------------------------------------------------------+
| Parameter   | Value                  | Description                                                             |
+=============+========================+=========================================================================+
| urdf_path   | *[path to .urdf file]* | Path to URDF to load onto ROS parameter server - **robot_description**. |
+-------------+------------------------+-------------------------------------------------------------------------+

Gazebo Simulation
-----------------

+------------------------+-------------------------+----------------------------------------------------------------------------------+
| Parameter              | Value                   | Description                                                                      |
+========================+=========================+==================================================================================+
| world_path             | *[path to .world file]* | Path to URDF to load into Gazebo                                                 |
+------------------------+-------------------------+----------------------------------------------------------------------------------+
| spawn_position         | *[(X, Y, Z)]*           |                                                                                  |
+------------------------+-------------------------+----------------------------------------------------------------------------------+
| spawn_rotation         | *[(Roll, Pitch, Yaw)]*  |                                                                                  |
+------------------------+-------------------------+----------------------------------------------------------------------------------+
| paused                 |  True / False           | Start simulation paused.                                                         |
+------------------------+-------------------------+----------------------------------------------------------------------------------+
| sim_start_delay        | *[float]*               | Duration (wall time) after start before automatically unpausing simulation.      |
+------------------------+-------------------------+----------------------------------------------------------------------------------+
| sim_max_duration       | *[float]*               | Duration (sim time) after unpause before automatically shutting down simulation. |
+------------------------+-------------------------+----------------------------------------------------------------------------------+
| sim_max_pause_duration | *[float]*               | Duration (wall time) after start before automatically shutting down simulation.  |
+------------------------+-------------------------+----------------------------------------------------------------------------------+