Building and debugging robotic programs is known to be difficult. The robotic community has produced numerous tools, APIs and middlewares to help debug and trace the construction and execution of robotic behaviors. However, mostof available debugging tools are text and log-oriented, leading toa tedious and ad-hoc debugging activity. In this paper we fully describe VizRob, a tool to debug robotic behaviors using logs and execution time. VizRob producesinteractive visualizations built from log traces within a state machine model, that is, the visual representation of the behavior. VizRob is founded on deficiencies we empirically found from semi-structured interviews and a revision of tutorial materials. A small case study received an initial feedback of VizRob in a robotic software engineering team. Our case study shows: (i) VizRob helps engineers solve intricate debugging scenarios and (ii) engineers perceive VizRob as filling a relevant gap within the current tools for building robotic behavior.
|Title of host publication||Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019|
|Number of pages||8|
|Publication date||26. Mar 2019|
|Publication status||Published - 26. Mar 2019|
|Event||3rd IEEE International Conference on Robotic Computing, IRC 2019 - Naples, Italy|
Duration: 25. Feb 2019 → 27. Feb 2019
|Conference||3rd IEEE International Conference on Robotic Computing, IRC 2019|
|Period||25/02/2019 → 27/02/2019|
|Series||Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019|
Bibliographical notePublisher Copyright:
© 2019 IEEE.
- nested state machines
- robotic behaviors