REQUIREMENTS.md

Hardware requirements

• Storage: at least 30 GB of free space
• GPU: recommended, but not required
  • Any integrated graphics cards should suffice
• A display device (monitor)
  • Gazebo simulator requires a display device to run on. Thus, headless servers cannot be used.

Software environments

• Operating system: Ubuntu 20.04
• X window system (e.g., xorg)
  • echo $DISPLAY should show a valid display name
• Docker
  • docker-ce is recommended (https://docs.docker.com/engine/install/ubuntu/)

Robots

We tested four robotic applications, and for two of them we utilized both the physical robots as well as the virtual models. If you intend to test the actual robots, you can purchase the following hardware and assemble them on your own:

• TurtleBot3 burger
  • https://www.robotis.us/turtlebot-3-burger-us/
• PX4 drone - X500 kit by Holybro
  • https://shop.holybro.com/x500-kit_p1180.html

For further information on the setup, please see hybrid_fuzzing.md.

Otherwise, you can still perform tests with only the virtual models in the simulator, i.e., do a SITL (simulator-in-the-loop) testing. Everything for the SITL testing is included in the artifact.