Towards Test-Driven Development for Mobile Robots @SDIR - ICRA - - - PowerPoint PPT Presentation

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Towards Test-Driven Development for Mobile Robots @SDIR - ICRA - - - PowerPoint PPT Presentation

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Towards Test-Driven Development for Mobile Robots @SDIR - ICRA - May 2013 Luc Fabresse, Jannik Laval and Noury Bouraqadi http://car.mines-douai.fr Outline 1. Test-driven Development (TDD) 2. TDD for Mobile Software Robotics 3. BoTest 4.

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Towards Test-Driven Development for Mobile Robots

Luc Fabresse, Jannik Laval and Noury Bouraqadi http://car.mines-douai.fr

@SDIR - ICRA - May 2013

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Outline

  • 1. Test-driven Development (TDD)
  • 2. TDD for Mobile Software Robotics
  • 3. BoTest
  • 4. Report on an Experiment
  • 5. Summary & Future Work

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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

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Software Development

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Specifications / Requirements Software

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Software Development

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Specifications / Requirements Software

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Software Development

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Specifications / Requirements Software complies with?

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Test-driven Development

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Specifications / Requirements Software

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Test-driven Development

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Specifications / Requirements Software Tests

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Test-driven Development

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Specifications / Requirements Software Tests

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Test-driven Development

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Specifications / Requirements Software Tests complies with?

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Benefits of TDD

  • Requirements as executable units: Tests
  • Ensure Software compliance with Tests
  • Short development cycles
  • Detecting regressions
  • ...

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TDD for Mobile Robotics Software Development

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Control Software Specifications / Requirements Tests

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Why TDD for Mobile Robotics Software

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Control Software Specifications / Requirements Tests

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Why TDD for Mobile Robotics Software

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Control Software Specifications / Requirements Tests for one product line

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Why TDD for Mobile Robotics Software

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Specifications / Requirements Tests for one product line written once

  • Quality

Assurance

  • Maintenance

Control Software

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Challenges of TDD for Mobile Software Robotics

  • Hardware in the loop
  • ``identical’’ hardware in production lines
  • Physical constraints
  • ...

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Requirements for Robot Test

  • Repeatability
  • Reuse
  • Safety
  • Automation

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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

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Example

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the robot should move straight 4m with 3% of error at most

Specifications / Requirements

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A Motion Test

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Test

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Test

A Motion Test

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Test name

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Test

A Motion Test

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Tester action requested to setup the robot name

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Test

A Motion Test

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Tested code

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Test

A Motion Test

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Assertion verified by the tester

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A Motion Test

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But the robot should not hit walls !

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A Motion Test

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Add collision detection using Laser

But the robot should not hit walls !

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A Motion Test

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Collision detection using Laser

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A Motion Test

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Add required Tests

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A Motion Test

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Laser Tests

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PBLaserTest

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Laser Tests

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Laser Tests

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Laser Tests

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Laser Tests

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Running a Test

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the robot should move straight 4m with 3% of error at most

Specifications / Requirements

testStraightLineMotion

...

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Running a Test

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the robot should move straight 4m with 3% of error at most

Specifications / Requirements

testStraightLineMotion

...

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Running a Test

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the robot should move straight 4m with 3% of error at most

Specifications / Requirements

testStraightLineMotion

...

1 run, 1 passes

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Running a Test

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the robot should move straight 4m with 3% of error at most

Specifications / Requirements

testStraightLineMotion

...

1 run, 1 passes

1 run, 0 passes, 1 requirementFailure

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Running a Test

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the robot should move straight 4m with 3% of error at most

Specifications / Requirements

testStraightLineMotion

...

1 run, 1 passes

1 run, 0 passes, 1 requirementFailure

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Running a Test

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Requirements are executed first

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Running a Test

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Running a Test

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1 run, 0 passes, 1 requirementFailure

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Summary

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Robotics Software development would benefit from TDD Tool support is needed

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Summary

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BoTest Write repeatable and reusable tests Testers in the loop Support expressing dependencies between tests Run tests based on dependencies

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Future Work

  • Automatic test dependencies extraction
  • Improve tests automation
  • Continuous integration for non-interactive tests
  • Specialized development tools

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Towards Test-Driven Development for Mobile Robots

Luc Fabresse, Jannik Laval and Noury Bouraqadi

!"#$%&'()*&#$%&'(+',-(#./01&,)2" @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