Application of Cloud Simulation Techniques for Robotic Software Validation
Diogo Vieira, Miguel Oliveira, Rafael Arrais, Pedro Melo
TL;DR
This paper introduces a CI/CD pipeline using cloud simulations to improve robotic software development, specifically for a ROS-based application called ATOM.
Contribution
A novel CI pipeline integrating cloud simulation and testing tools for robotic software development is proposed and validated.
Findings
The proposed pipeline successfully integrates GitHub Actions, AWS RoboMaker, and Rigel for robotic software validation.
Static analysis and unit testing via Codacy were effectively incorporated into the pipeline.
The pipeline serves as a blueprint for similar robotic software development projects.
Abstract
Continuous Integration and Continuous Deployment are known methodologies for software development that increase the overall quality of the development process. Several robotic software repositories make use of CI/CD tools as an aid to development. However, very few CI pipelines take advantage of using cloud computing to run simulations. Here, a CI pipeline is proposed that takes advantage of such features, applied to the development of ATOM, a ROS-based application capable of carrying out the calibration of generalized robotic systems. The proposed pipeline uses GitHub Actions as a CI/CD engine, AWS RoboMaker as a service for running simulations on the cloud and Rigel as a tool to both containerize ATOM and execute the tests. In addition, a static analysis and unit testing component is implemented with the use of Codacy. The creation of the pipeline was successful, and it was concluded…
Genes, proteins, chemicals, diseases, species, mutations and cell lines named across the full text — each resolved to its canonical identifier and authoritative record.
Click any figure to enlarge with its caption.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsRobotics and Automated Systems · Modular Robots and Swarm Intelligence · Scientific Computing and Data Management