Supporting test execution and monitoring in ROS

OData support
Dr. Micskei Zoltán Imre
Department of Measurement and Information Systems

Robotics is the fastest growing technology of today and robots are popping up in our everyday life. Extensive verification and validation (V&V) procedure is necessary to ensure safe functioning in human environment. Testing a robot is very (time, budgetary, human) resource consuming process. Test environment simulation and test process automation is a solution for cost reduction. For this purpose a test framework should be built, which sets the simulated environment, orders the simulated robot to execute predefined tasks and stores the observed results.

A formal and common specification of the given (V&V) problem is presented in the thesis (Chapter 1). The complexity of the testing flow, new requirements, problems appearing during testing phase and possible solution of these is discussed. The simulation tool is specified and new requirements, subtasks and their parameters are identified.

The thesis describes in detail the context and the implementation tools on which the communication of robot subsystems can be synchronized (Chapter 2). The ROS middleware was used in the development of this thesis, as it provides abstract communication model over real and simulated robot components. The framework compatible tools and prevalent descriptions are also described.

The implementation of tasks identified during specification required serious planning was needed to synchronize the identified autonomous components and there structure and behavior model that were designed from basic functions provided by ROS (Chapter 3). The structure of input and output of these components are shown also.

The implementation of components that were developed for the thesis and the problems following the development are discussed in Chapter 4. Different subsystem performance enhancement methods are also shown for already working units.

The working framework deployment is shown in two examples: 1st with complete test simulation and 2nd a Lego™ EV3 robot monitoring.

An offline monitoring program was also developed for the test framework for the thesis. It works on arbitrary ROS system and saves the sampling to XML files. A navigation control program is also included, which delivers navigation target points (stored in a file) to ROS higher level component. A simulation world description processing and world loader, component supervisor program is also developed.

A complete working prototype test framework for robot testing is developed for this thesis.


Please sign in to download the files of this thesis.