Towards Test-Driven Development for Mobile Robots

Luc Fabresse, Jannik Laval and Noury Bouraqadi!

http://car.mines-douai.fr!

@SDIR - ICRA - May 2013!

http://car.mines-douai.fr May 2013, @SDIR - ICRA

Outline!

1.  Test-driven Development (TDD)!

2.  TDD for Mobile Software Robotics!

3.  BoTest!

4.  Report on an Experiment!

5.  Summary & Future Work!

CAIRE Project!

•  Coodinator: Luc Fabresse!

•  Partners: INRIA Lille RMoD, IEMN Telice!

•  2012-2014!

• Nord-Pas de Calais Council funding (France)!

•  Indoor Exploration and Mapping!

•  Agile methodology for Robotic Software !

Software Development!

Specifications /!Requirements!

Software!

complies with?!

Test-driven Development!

Software!

Tests!

Software!

Tests!

Software!

Tests!

complies !with?!

Benefits of TDD!

•  Requirements as executable units: Tests!

•  Ensure Software compliance with Tests !

•  Short development cycles!

•  Detecting regressions!

•  ...!

TDD for Mobile Robotics "Software Development !

Control!Software!Specifications /!

Requirements!

Tests!

Why TDD for "Mobile Robotics Software!

Requirements!

Tests!

Requirements!

Tests!

for one product line !

Tests!

for one product line !

written once! •  Quality Assurance!•  Maintenance !

Control!Software!

Challenges of TDD "for Mobile Software Robotics!

•  Hardware in the loop!

•  ``identical’’ hardware in production lines!

•  Physical constraints!

•  ...!

Requirements "for Robot Test!

•  Repeatability!

•  Reuse!

•  Safety!

•  Automation!

A Tool for Robotics TDD!

•  BoTest (http://car.mines-douai.fr/software/)!

•  Implemented in as an extension of SUnit"(http://www.pharo-project.org)!

•  Helps to write tests for robots!

•  Support expressing dependencies between tests!

•  Run tests in a specific order!

Example!

the robot should move straight 4m with 3% of

error !at most!Specifications /!

Requirements!

A Motion Test!

Test name!

A Motion Test!

Tester action requested !to setup the robot name!

A Motion Test!

Tested code!

A Motion Test!

Assertion verified! by the tester!

A Motion Test!

But the robot !should not hit walls !!

A Motion Test!

Add collision detection using Laser!

But the robot !should not hit walls !!

A Motion Test!

Collision detection using Laser!

A Motion Test!

Add required Tests !

A Motion Test!

Laser Tests!

PBLaserTest!

Laser Tests!

Running a Test!the robot "

should move straight 4m with

3% of error !at most!

testStraightLineMotion!

1 run, 1 passes!

1 run, 1 passes! 1 run, 0 passes,!1 requirementFailure!

Running a Test!

Requirements !are executed!

first!

Running a Test!

1 run, 0 passes,!1 requirementFailure!

Summary!

Future Work!

•  Automatic test dependencies extraction!

•  Improve tests automation !

•  Continuous integration for non-interactive tests!

•  Specialized development tools!

Towards Test-Driven Development for Mobile Robots

Luc Fabresse, Jannik Laval and Noury Bouraqadi!

firstName.lastName@mines-douai.fr

@SDIR - ICRA - May 2013!

Looking for a 18 months PostDoc!

http://car.mines-douai.fr/2013/03/postdoc-position/!More infos:!

Keywords: Robotics Software, Agile development, Dynamic Languages, ... !

Starting: ~Sept 2013!

Towards Test-Driven Development for Mobile Robots

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