2. Advanced Navigation Testing Framework

Task description

The ROS 2 Navigation Stack has had a focus on testing and reliability as a characteristic change from ROS 1 to ROS 2. We currently have a test coverage rate of 85% and do full system simulations in Continuous Integration (CI) to test the entire navigation system with a real robot completing real navigation tasks. Your task will be to increase the testing coverage rate to 90% (or +5% from your starting) and improve on the existing system tests to represent a more realistic environment. You will then work to make sure of that environment to actively block the robot from completing its task to simulate worst-case conditions.

Project difficulty: Medium

Project community mentor: Steve Macenski @SteveMacenski

Mentor contact details: [See link above, link in GitHub profile description]

Project output requirements

• Test line coverage of 90% or higher on the repository as reported by codecov (currently 85%)

• An improved simulation environment for a more realistic mobile robotics application

• Updated system tests to take advantage of that environment to fault or un-ideal cases of the stack

Skills required

• C++, Python3, gtest

• Gazebo, recommended experience with Gazebo plugins

• Recommended: Navigation experience

List of relevant open source software repositories and refs

• ROS

• Gazebo Simulator

• Navigation2

• Navigation2 Repo System Tests

Licensing - All contributions will be under the Apache 2.0 license. - No other CLA’s are required.