一句话：提出基于 Unity 与 ROS 的 Maktub，降低机器人系统测试创建门槛，无需机器人软件开发技能。
机器人硬件测试成本高且危险，因此机器人系统测试日益依赖仿真。然而，创建机器人仿真测试需要机器人编程与仿真工具的专业技能，现有平台与工具包在与自动化测试结合时也较繁琐。本文提出 Maktub，一个基于 Unity 和 ROS 的测试创建工具，利用 Unity 丰富的 3D 操作能力降低机器人系统测试的创建门槛。其核心思想是让用户无需机器人软件开发技能即可创建测试。摘要未报告量化评估，仅提供视频演示与开源代码。
The rapid expansion of robotics relies on properly configuring and testing hardware and software. Due to the expense and hazard of real-world testing on hardware, robot system testing increasingly utilizes extensive simulation. Creating robot simulation tests requires specialized skills in robot programming and simulation tools. While there are many platforms and tool-kits to create these simulations, they can be cumbersome when combined with automated testing. We present Maktub: a tool for creating tests using Unity and ROS. Maktub leverages the extensive 3D manipulation capabilities of Unity to lower the barrier in creating system tests for robots. A key idea of Maktub is to make tests without needing robotic software development skills. A video demonstration of Maktub can be found here: https://youtu.be/c0Bacy3DlEE, and the source code can be found at https://github.com/RobotCodeLab/Maktub.
DOI 原文 ·
@inproceedings{paperbot7353,
title = {Maktub: Lightweight Robot System Test Creation and Automation},
author = {Amr Moussa and John-Paul Ore},
booktitle = {ASE},
year = {2022},
doi = {10.1145/3551349.3559531}
}