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Project Info:
The MIT Distributed Robotics Laboratory writes novel autonomous vehicle(AV) control software within the Toyota-CSAIL joint research center. In order to test AV code, it needed to be deployed on a real vehicle, necessitating a 40-minute trip to the testing facility. My project was to create a testing environment that tests the current software stack to be run within the CARLA simulator.
I first setup the testing environment, integrating dependencies into a Docker container and creating new ROS nodes to monitor topics relevant to the test. I then wrote unit tests using ROS's Python API that retrieved information from the simulated world and compared it against the expected trajectory. Once I had written the unit tests, I then set up a Jenkins server and wrote pipeline files to automatically run the unit tests.
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