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International Workshop on Modelling and Simulation for Autonomous Systems

MESAS 2015: Modelling and Simulation for Autonomous Systems pp 216–225Cite as

A Generic Testing Framework for Test Driven Development of Robotic Systems

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Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 9055))

Abstract

This paper proposes a generic framework for test driven development of robotic systems. The framework provides functionalities for developing and running unit tests in a language and middleware independent manner. Tests are developed as independent plug-ins to be loaded and executed by an automated tool. Moreover, a fixture manager prepares the setup (e.g., running robot drivers or simulator) and actively monitors that all the required resources are available before and during the execution of the tests. These functionalities effectively accelerate the development process and cover different levels of robotic system testing. The paper describes the framework and provides realistic examples to show how it has been used to support software development on our robotic platform.

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Notes

  1. 1.

    The source code and documentation of the RTF can be accessed on-line at http://robotology.github.io/robot-testing/index.html.

  2. 2.

    In YARP data from generic sensors are published and read from Port objects. BufferedPort is a specialization of Port that support streaming operations.

  3. 3.

    Please refer to http://wiki.icub.org/yarpdoc/yarpmanager.html for the structure and syntax of the YARP application description file.

  4. 4.

    Please refer to http://robotology.github.io/robot-testing/documentation/testrunner.html for the documentation of the test runner.

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Acknowledgments

The research leading to these results has received funding from the European FP7 ICT project No. 611832 (WALK-MAN) and No. 600716 (CoDyCo).

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Authors and Affiliations

  1. Istituto Italiano di Tecnologia (IIT), Genova, Italy

    Ali Paikan, Silvio Traversaro, Francesco Nori & Lorenzo Natale

Authors
  1. Ali Paikan
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  2. Silvio Traversaro
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  3. Francesco Nori
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  4. Lorenzo Natale
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Corresponding author

Correspondence to Ali Paikan .

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Editors and Affiliations

  1. NATO Mdelling and Simulation Centre of Excellence , Rome, Italy

    Jan Hodicky

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Paikan, A., Traversaro, S., Nori, F., Natale, L. (2015). A Generic Testing Framework for Test Driven Development of Robotic Systems. In: Hodicky, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2015. Lecture Notes in Computer Science(), vol 9055. Springer, Cham. https://doi.org/10.1007/978-3-319-22383-4_17

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  • DOI: https://doi.org/10.1007/978-3-319-22383-4_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22382-7

  • Online ISBN: 978-3-319-22383-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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