testbench_ABV

Testbench used to demonstrate assurance-based verification of an object-handover scenario with the BERT2 robot. All components required to run the simulation are included.

----------------CONTENTS------------------------------------------------

The ROS packages in this repo are divided across five top-level folders:

• bert2_gazebo contains the files used to specifically to implement and test the handover scenario. Its subfolders include:

  • scripts: Control code for robot (in simulation and hardware experiments) and human (in simulation). Code coverage collector.
  • src: Additional low-level control modules for robot and human
  • shell_scripts: Scripts to run batch mode.
  • tests: Test generators and examples of stimuli (test templates with high-level human actions) from model-based test generation.
  • launch: Launch files for initialising simulations and hardware experiments.
  • monitors: Assertion monitors used to check behaviour of the system.
  • meshes, robots, urdf, worlds: Physical modelling of robot, human, and environment.

• bert2_common, bert2_interface, bert2_robot, moveit_robots: Additional packages to support the BERT2 system, not specific to the handover scenario or testbench. They include the physical model, motion planning configuration, low-level control and messaging.

----------------------LICENSE--------------

The code we developed is covered by GNU GENERAL PUBLIC LICENSE Version 3, 29 June 2007

----------------INSTALLING AND RUNNING THE TESTBENCH---------------------

To start using the bert2_gazebo package to simulate BERT2...

• Install Ubuntu (tested on v14.04)

• Download and install ROS Indigo (full) as per instructions at http://wiki.ros.org/indigo/Installation/Ubuntu.

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
    sudo apt-get update
    sudo apt-get install ros-indigo-desktop-full
    sudo rosdep init
    rosdep update
    echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
    source ~/.bashrc
    sudo apt-get install python-rosinstall
  

• Install Gazebo2

    sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main" > /etc/apt/sources.list.d/gazebo-latest.list'
    wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
    sudo apt-get update
    sudo apt-get install gazebo2
  

• Install Coverage Python module (and Pip if you do not have it)

    sudo apt-get install python-pip 
    sudo pip install coverage
  

• Install the BERT2 ROS Software

Install libraries and tools that the BERT2 ROS software relies on by running the following:

    sudo apt-get update
    sudo apt-get install git python-argparse python-wstool python-vcstools python-rosdep ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control ros-indigo-moveit-full ros-indigo-ros-control ros-indigo-ros-controllers

• Create a ROS workspace (AKA catkin workspace) directory with a name of your choosing, e.g. "bert2_ws", by running the following command in a terminal window

    mkdir -p ~/bert2_ws/src
  

• Copy all contents of the 'ROS_packages' folder in this repository to ~/bert2_ws/src/

• We build the BERT2 ROS packages by running catkin_make.

    cd ~/bert2_ws
    catkin_make --pkg bert2_core_msgs
    catkin_make     
    echo "source ~/bert2_ws/devel/setup.bash" >> ~/.bashrc
    source ~/.bashrc      
  

• Launch the simulator

    cd ~/bert2_ws/src/bert2_gazebo
    . shell_scripts/handover_sim.sh
  

The shell script must be executed from the bert2_gazebo directory, as demonstrated above, to work correctly.

Some error messages relating to bert2_gazebo_motor_controller may appear before the simulator has fully launched, while interacting nodes load. Once the models have spawned, after about 20 seconds the first handover test should commence. A total of 5 tests will be carried out, as a demo. Assertion monitor reports will appear in the bert2_gazebo folder as 'assertion*.txt'. Further error messages will appear when the assertion monitor processes are killed at the end of each test. These do not indicate a problem with the simulation.

To run the simulation without visualisation, edit bert2_gazebo/shell_scripts/handover_sim.sh to use the provided alternative version of the 'roslaunch' command (with "gui:=false headless:=true"). Comment out the current version of that command.

If you end the simulation early, use the following commands to end all processes started by the shellscript

    cat /tmp/mainpids | xargs kill
    cat /tmp/rospids | xargs kill

Questions, bugs, comments: david.western@bristol.ac.uk, dejanira.araizaillan@bristol.ac.uk