A Generic Testing Framework for Test Driven Development of Robotic Systems
A Generic Testing Framework for Test Driven Development of Robotic Systems
复制标题
机器人系统测试驱动开发的通用测试框架
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
L. Natale
中科院分区：
文献类型：
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作者：
A. Paikan;Silvio Traversaro;F. Nori;L. Natale
本文提出了一个用于机器人系统测试驱动开发的通用框架。该框架提供了以独立于语言和中间件的方式开发和运行单元测试的功能。测试被开发为独立的插件，由自动化工具加载和执行。此外，夹具管理器准备设置(例如，运行机器人驱动程序或模拟器)，并在测试执行之前和期间主动监控所有所需资源是否可用。这些功能有效地加快了开发过程，并覆盖了不同级别的机器人系统测试。本文描述了该框架，并提供了实际的例子来展示它如何被用来支持我们的机器人平台上的软件开发。
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.