Model-based integration testing of ROS packages: A mobile robot case study

Ernits, Juhan-Peep; Halling, Evelin; Kanter, Gert; Vain, Jüri

doi:10.1109/ecmr.2015.7324210

Cited by 7 publications

(7 citation statements)

References 13 publications

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“…They apply it to ROS, incorporating simulation environments as substitutes for real hardware. In [6], this idea is extended to implement Modelbased Testing for ROS systems. As is our case, their work is aimed at the integration testing level, but they focus on the navigation and localisation capabilities of mobile robots only.…”

Section: Related Workmentioning

confidence: 99%

Property-based testing for the robot operating system

Santos

Cunha

Macedo

2018

Proceedings of the 9th ACM SIGSOFT International Workshop on Automating TEST Case Design, Selection, and Evaluation

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The Robot Operating System (ROS) is an open source framework for the development of robotic software, in which a typical system consists of multiple processes communicating under a publishersubscriber architecture. A great deal of development time goes into orchestration and making sure that the communication interfaces comply with the expected contracts (e.g. receiving a message leads to the publication of another message). Orchestration mistakes are only detected during runtime, stressing the importance of component and integration testing in the verification process. Property-based Testing is fitting in this context, since it is based on the specification of contracts and treats tested components as black boxes, but there is no support for it in ROS. In this paper, we present a first approach towards automatic generation of test scripts for property-based testing of various configurations of a ROS system. CCS CONCEPTS• Software and its engineering → Software testing and debugging; Publish-subscribe / event-based architectures; • Computer systems organization → Robotics;

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Section: Related Workmentioning

confidence: 99%

Property-based testing for the robot operating system

Santos

Cunha

Macedo

2018

Proceedings of the 9th ACM SIGSOFT International Workshop on Automating TEST Case Design, Selection, and Evaluation

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“…, (BRITO et al, 2015), (ERNITS et al, 2015), (JANSCHEK;MOROZOV, 2015), (MUNOZ et al, 2015) Fonte: Elaborada pelo autor.…”

Section: Análise Dos Resultadosunclassified

“…(WEISSHARDT et al, 2014), (ERNITS et al, 2015), (MUNOZ et al, 2015) A seguir é apresentado um resumo de cada estudo primário segundo o tipo de teste mais relacionado aplicado, obedecendo a classificação do lado esquerdo do gráfico de bolhas, apresentado na Figura 6.…”

Section: Análise Dos Resultadosunclassified

“…É baseado em uma técnica chamada teste baseado em prefixo, no qual o programa executa deterministicamente até um determinado ponto e depois deste ponto segue de forma não determínistica, permitindo a execução de diferentes caminhos (LEI; CARVER, 2006). GARIO, 2015), (ARAIZA-ILLAN et al, 2015), (JANSCHEK;MOROZOV, 2015), (ERNITS et al, 2015) Fonte: Elaborada pelo autor. equações diferenciais.…”

Section: Teste De Alcançabilidadeunclassified

“…As sequências de solicitações e respostas envolvendo as interfaces são representadas por grafos de interação construídos usando a notação de diagramas de atividade UML e a partir destes são gerados os dados de teste. Ernits et al (2015) propõem uma abordagem de teste de integração de software de robôs móveis construídos em ROS. Inicialmente é aplicado teste baseado em modelos usando Uppaal timed automata (TA) (BENGTSSON; YI, 2004) e adaptadores das saídas do modelo para o robô.…”

Section: Teste De Cenáriosunclassified

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Estudo e definição do teste de integração de software para o contexto de sistemas robóticos móveis

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A Deployment Framework for Formally Verified Human-Robot Interactions

Lestingi¹,

Askarpour

Bersani

et al. 2021

IEEE Access

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In the future, assistive robots will spread to everyday settings and regularly interact with humans. This paper introduces a deployment approach for assistive robotic applications where human-robot interaction is the main element. The deployment infrastructure hinges on a model-to-code transformation technique and a ROS-based middleware layer and enables deployment in real life or simulation in a virtual environment. The approach fits into a model-driven framework for the formal verification of interactive scenarios. At design-time, the application analyst estimates the most likely outcome of the robotic mission through Statistical Model Checking of a Stochastic Hybrid Automata network modeling the scenario. We introduce an innovative approach to convert a specific subset of Stochastic Hybrid Automata into executable code to control the robot and respond to human actions. Deploying or simulating the application allows analysts to validate the results obtained at design time or to refine the formal model based on runs in the real or the virtual scene. The methodology's effectiveness is tested via simulation of use cases from the healthcare setting, which can significantly benefit from this kind of approach thanks to its innovative features related to human physiology and autonomous behavior.

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Model-based integration testing of ROS packages: A mobile robot case study

Cited by 7 publications

References 13 publications

Property-based testing for the robot operating system

Property-based testing for the robot operating system

Estudo e definição do teste de integração de software para o contexto de sistemas robóticos móveis

A Deployment Framework for Formally Verified Human-Robot Interactions

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