Article,
ROBUST: 221 bugs in the Robot Operating System
Contributors
Santos, Andre
0000-0003-0905-4040
[3]
Affiliations
- [1] Carnegie Mellon Univ, Sch Comp Sci, Pittsburgh, PA 15213 USA [NORA names: United States; America, North; OECD];
- [2] Delft Univ Technol, Fac Mech Maritime & Mat Engn, Dept Cognit Robot, Delft, Netherlands [NORA names: Netherlands; Europe, EU; OECD];
- [3] VORTEX CoLab, Vila Nova De Gaia, Portugal [NORA names: Portugal; Europe, EU; OECD];
- [4] Fraunhofer Inst Mfg Engn & Automat IPA, Stuttgart, Germany [NORA names: Germany; Europe, EU; OECD];
- [5] IT Univ Copenhagen, Dept Comp Sci, Copenhagen, Denmark [NORA names: ITU IT University of Copenhagen; University; Denmark; Europe, EU; Nordic; OECD]
Abstract
As robotic systems such as autonomous cars and delivery drones assume greater roles and responsibilities within society, the likelihood and impact of catastrophic software failure within those systems is increased. To aid researchers in the development of new methods to measure and assure the safety and quality of robotics software, we systematically curated a dataset of 221 bugs across 7 popular and diverse software systems implemented via the Robot Operating System (ROS). We produce historically accurate recreations of each of the 221 defective software versions in the form of Docker images, and use a grounded theory approach to examine and categorize their corresponding faults, failures, and fixes. Finally, we reflect on the implications of our findings and outline future research directions for the community.
