Slides of the presentation given at the ICRA 2013 workshop on Software Development and Integration in Robotics (SDIRIII) http://robotics.unibg.it/tcsoft/sdir2013/index.html

1. Towards Test-Driven Development
for Mobile Robots
Luc Fabresse, Jannik Laval and Noury Bouraqadi!
http://car.mines-douai.fr!
@SDIR - ICRA - May 2013!

2. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
2!
Outline!
1. Test-driven Development (TDD)!
2. TDD for Mobile Software Robotics!
3. BoTest!
4. Report on an Experiment!
5. Summary & Future Work!

3. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
3!
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 !

4. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
4!
Software Development!
Specifications /!
Requirements!
Software!

5. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
5!
Software Development!
Specifications /!
Requirements!
Software!

6. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
6!
Software Development!
Specifications /!
Requirements!
Software!
complies with?!

7. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
7!
Test-driven Development!
Specifications /!
Requirements!
Software!

8. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
8!
Test-driven Development!
Specifications /!
Requirements!
Software!
Tests!

9. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
9!
Test-driven Development!
Specifications /!
Requirements!
Software!
Tests!

10. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
10!
Test-driven Development!
Specifications /!
Requirements!
Software!
Tests!
complies !
with?!

11. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
11!
Benefits of TDD!
• Requirements as executable units: Tests!
• Ensure Software compliance with Tests !
• Short development cycles!
• Detecting regressions!
• ...!

12. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
12!
TDD for Mobile Robotics "
Software Development !
Control!
Software!
Specifications /!
Requirements!
Tests!

13. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
13!
Why TDD for "
Mobile Robotics Software!
Control!
Software!
Specifications /!
Requirements!
Tests!

14. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
14!
Why TDD for "
Mobile Robotics Software!
Control!
Software!
Specifications /!
Requirements!
Tests!
for one
product line !

15. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
15!
Why TDD for "
Mobile Robotics Software!
Specifications /!
Requirements!
Tests!
for one
product line !
written once! • Quality
Assurance!
• Maintenance !
Control!
Software!

16. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
16!
Challenges of TDD "
for Mobile Software Robotics!
• Hardware in the loop!
• ``identical’’ hardware in production lines!
• Physical constraints!
• ...!

17. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
17!
Requirements "
for Robot Test!
• Repeatability!
• Reuse!
• Safety!
• Automation!

18. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
18!
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!

19. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
19!
Example!
the robot should
move straight
4m with 3% of
error !
at most!Specifications /!
Requirements!

20. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
20!
A Motion Test!
Test!

21. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
21!
Test!
A Motion Test!
Test name!

22. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
22!
Test!
A Motion Test!
Tester action requested !
to setup the robot name!

23. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
23!
Test!
A Motion Test!
Tested code!

24. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
24!
Test!
A Motion Test!
Assertion verified!
by the tester!

25. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
25!
A Motion Test!
But the robot !
should not hit walls !!

26. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
26!
A Motion Test!
Add collision detection using
Laser!
But the robot !
should not hit walls !!

27. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
27!
A Motion Test!
Collision detection using Laser!

28. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
28!
A Motion Test!
Add required Tests !

29. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
29!
A Motion Test!

30. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
30!
Laser Tests!
PBLaserTest!

31. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
31!
Laser Tests!

32. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
32!
Laser Tests!

33. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
33!
Laser Tests!

34. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
34!
Laser Tests!

35. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
35!
Running a Test!
the robot "
should move
straight 4m with
3% of error !
at most!
Specifications /!
Requirements!
testStraightLineMotion!

36. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
36!
Running a Test!
the robot "
should move
straight 4m with
3% of error !
at most!
Specifications /!
Requirements!
testStraightLineMotion!

37. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
37!
Running a Test!
the robot "
should move
straight 4m with
3% of error !
at most!
Specifications /!
Requirements!
testStraightLineMotion!
1 run, 1 passes!

38. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
38!
Running a Test!
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!

39. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
39!
Running a Test!
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!

40. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
40!
Running a Test!
Requirements !
are executed!
first!

41. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
41!
Running a Test!

42. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
42!
Running a Test!
1 run, 0 passes,!
1 requirementFailure!

43. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
43!
Summary!

44. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
44!
Summary!

45. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
45!
Future Work!
• Automatic test dependencies extraction!
• Improve tests automation !
• Continuous integration for non-interactive tests!
• Specialized development tools!

46. 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!