Property-Based Testing: Formalized Robotic Testing for Standard Compliance

   

   

   

   

Copyright and licence

Copyright (C) 2022 by Hochschule Bonn Rhein Sieg

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Author

Salman Omar Sohail

Co-authors

Prof. Dr. Nico Hochgeschwender, Prof. Dr. Paul G. Pl ̈oger, M.Sc. Sven Schneider

Framework Overview

Code Documentation

Docs: Property-Based Testing: Formalized Robotic Testing for Standard Compliance

Running Framework (Hypothesis|ROS|Gazebo|Allure|TextX)

1. Basic setup

./atg.sh

2. Run from inside the src/property_based_tester folder, this applies the tests

python3 -m pytest --alluredir=results tests/pbt_mobile_robot.py -v -W ignore::DeprecationWarning 
python3 -m pytest --alluredir=results tests/pbt_robotic_arm.py -v -W ignore::DeprecationWarning 
python3 -m pytest --alluredir=results tests/pbt_random.py -v -W ignore::DeprecationWarning 

• The first test is for any ground vehicle
• The second test is for robotic manipulators
• The third test is for randomized testing

NOTE: Examples for applying these tests are available in src/property_based_tester/ robot_test_definition_language/*_test_definitions

3. Run for the navigation tests

roslaunch jackal_navigation odom_navigation_demo.launch 
roslaunch husky_navigation move_base_mapless_demo.launch 

4. Robot configuration inside the src/property_based_tester/configuration/property_based_tester_params.yaml

Current available robots:

 Robot: 
   robot_urdf_name: husky # URDF name
   robot_spawner_name: spawn_husky_controller.launch
   robot_size: [0.580, 0.430, 0.250] # x,y,z in meters

 Robot: 
   robot_urdf_name: jackal_robot_issac # URDF name
   robot_spawner_name: spawn_jackal_controller.launch
   robot_size: [0.990, 0.670, 0.390] # x,y,z in meters

 Robot: 
   robot_urdf_name: xarm6_gripper
   robot_spawner_name: spawn_xarm6_controller.launch

 Robot: 
   robot_urdf_name: rovo # URDF name
   robot_spawner_name: spawn_rovo_wo_controller.launch
   robot_controller: rovo_standalone_controller.launch
   robot_velocity: /rovo_velocity_controller/cmd_vel
   robot_size: [1.200, 1.230, 0.530] # x,y,z in meters

 Robot: 
   robot_urdf_name: b1 # URDF name
   robot_spawner_name: spawn_b1_wo_controller.launch
   robot_controller: b1_standalone_controller.launch
   robot_velocity: /b1/cmd_vel/smooth
   robot_size: [1.10, 0.45, 0.50] # x,y,z in meters

5. Launching their navigation drivers

roslaunch husky_navigation move_base_mapless_demo.launch

roslaunch jackal_navigation odom_navigation_demo.launch

roslaunch rovo_navi odom_navigation.launch

roslaunch b1_gazebo qre_gazebo_nav.launch

Result generation (Allure)

• Run from inside the src/property_based_tester folder, this generates the results viewable from chrome

./result_generation.sh

Collision sensor addition in Gazebo

1. Use the default template to add the senor plugin to your robot.

• Link and joint template:

<!-- Links and joints templplate if you do not already have -->
 <link name="sim_collider">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="2.0 0.8 0.1"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
         <box size="2.0 0.8 0.1"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

  <joint name="sim_collider_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base_link"/> <!-- Change param parent link -->
    <child link="sim_collider"/>   <!-- Change param same as link -->
  </joint>

• Sensor template:

<!-- Contact Sensor -->
  <gazebo reference="sim_collider"> <!-- Change param same as link -->
    <sensor name="sim_collider_link_contact_sensor" type="contact">
      <always_on>true</always_on>
      <update_rate>100</update_rate>
      <contact>
        <collision>base_link_fixed_joint_lump__sim_collider_collision_2</collision> <!-- Change param same as link -->
      </contact>
      <plugin filename="libgazebo_ros_bumper.so" name="gazebo_ros_sim_collider_controller">
        <always_on>true</always_on>
        <update_rate>100</update_rate>
        <frameName>world</frameName> <!-- Change param -->
        <bumperTopicName>bumper_contact_state</bumperTopicName>
      </plugin>
    </sensor>
    <material>Gazebo/Orange</material>
  </gazebo>

2. Convert your URDF to SDF as there are parsing issues in detecting collision name.

gz sdf -p my.urdf > my.sdf

• Incase you have to convert your xacro urdf to URDF

rosrun xacro xacro -o model.urdf model.urdf.xacro

3. Search in the .sdf file the collision tag corresponding to your URDF and place it in the contact sensors collision tag (i.e. sim_collider).

Robot Test Definition Language RTDL (TextX)

• Run from inside the src/property_based_tester/robot_test_definition_language folder, generates a DSL

./rtdl.sh

• Test definitions are written in src/property_based_tester/robot_test_definition_language/standard_test_definitions.pblg

• Used for feeding into hypothesis for generating tests

Running Framework (Hypothesis|ROS|Omniverse Nvidia IssacSim|Allure|TextX)

• (In the works!) Generate Universal Scene Description physics based simulation in ISSAC Sim.

./omni.sh

Acknowledgements

Supervised by:

• Prof. Dr. Nico Hochgeschwender
• Prof. Dr. Paul G. Pl ̈oger
• M.Sc. Sven Schneider

Resource Provision:

• MYBOTSHOP

Software Requirements

• Ubuntu 20.04 LTS
• Python 3.6.12 64-bit
• Gazebo 7.16.1
• Catkin-pkg 0.4.22-100
• ROS-Noetic
• numpy 1.11.0
• numpy-stl
• cuda 11.0
• cuddnn 8
• tensorflow 1.4.0
• keras 2.0.8
• pandas 0.17.1
• termcolor 1.1.0
• pytest==4.6.11
• maven
• jdk 8
• allure-pytest==2.6.0
• allure==2.6.0
• torch==1.4.0
• torchvision==0.5.0
• allure-python-commons==2.6.0
• hypothesis--4.57.1
• Nvidia-Issac-Sim
• TextX

Required ROS Packages

• Husky
• Jackal
• xARM6
• Ouster
• Gazebo-pkgs
• MBS ROVO2 (Closed source)
• Quadruped B1 (Closed source)
• Yocs Velocity Smoother
• RoboticsGroup Gazebo Plugins

Hardware Requirements

These constitute the bare minimum requirements to run this package.

• 16 Gb RAM
• AMD Ryzen 5 5600H CPU @ 3.30GHz
• Nvidia GeForce RTX 3060
• 250 Gb SSD

Known Issues

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The simulator bugging out can be caused by fast physics rendering. Turn the real time factor of the physics simulatior down to get better results.

Movebase not working

The movebase is not running. Make sure the topics are correct for the odom, map, and cmd_vel. Also, make sure that sim_time is enabled for move_basei.e.:

<param name="use_sim_time" value="true" />

Ouster or other Gazebo plugins not working

Add this and place the plugins binaries and shared objects into this folder

export GAZEBO_PLUGIN_PATH=/home/sorox23/robotic_ws/master_thesis_ws/src/property_based_tester/plugins/gazebo_plugins_manual_amd64