Structured Testing Framework for ADAS Algorithm Development

Formalized software testing is becoming increasingly common for software teams. However, existing frameworks suffer from test development that is inflexible and tedious to update as the software stack itself changes. Additionally, the time and resources spent in creating test cases can often be a deterrent for continual test case development. This paper proposes a testing framework, called structured testing, that works at both integration and system test levels in ROS 2. Though primarily built for ADAS/AV development, it is flexible to adaption for other domains. It focuses on intuitive test specification and a simulator agnostic input in the form of ROS bag files. Additionally, though integrated with Gitlab's CI tool as an example, it is integrable with any similar standard CI tool for test automation. The framework is compared to the standard ROS 2 integration testing protocol and shows comparative improvements in ease of use as well as a reduction in compute resource consumption.