TestIt: an Open-Source Scalable Long-Term Autonomy Testing Toolkit for ROS

This paper presents an open-source testing toolkit TestIt that is primarily developed for model-based testing of autonomous systems to improve long-term autonomy. The architecture and tools within this architecture are introduced. The main novelty of presented solution is the scalable multi-pipeline testing architecture that enables incorporation of multi-purpose testing tools including those used in state-of-the-art model-based testing. The usability of TestIt for software testing in autonomous navigation context is demonstrated using Uppaal timed automata model based testing and Uppaal-family tools such as model checker and test execution environments Uppaal TRON and DTRON.