Developing a Testing Framework for Cyber-Physical Systems using Gazebo

Developing a reliable Cyber-Physical System (CPS) requires tools and frameworks that can support various scenarios to be verified and tested under different environmental constraints. However, it is challenging to produce and synthesize a testing and verification environment for real-life scenarios to address every possible failure case. In the context of healthcare applications, testing an instrument is often expensive and risk-critical as it involves human interventions. To address these challenges, we present a simulation framework prepared using the combination of the Robot Operating System (ROS) and a tool, Gazebo. This experience paper demonstrates the applicability and usage of the Gazebo and ROS for wheelchair safety scenarios. Our wheelchair control algorithm is built on ROS that monitors the changes in the environment constraints (i.e., identifying the inclined or rough surfaces) and the wheelchair system.