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Published on: December 13, 2016
Application of Cloud Simulation Techniques for Robotic Software Validation
Diogo Vieira1,2,3, Miguel Oliveira1,2,3, Rafael Arrais4,5
1Department of Mechanical Engineering, University of Aveiro, 3810-193 Aveiro, Portugal.
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 that it constitutes a valuable tool for the development of ATOM and a blueprint for the creation of similar pipelines for other robotic systems.
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