Setup of the PatchVerif running environment is quite tricky.
I would recommand you to download the virtual machine image and run PatchVerif.
The virtual machine image includes source code of PatchVerif.
The image is created on VMware Workstation Player
Download the virtual machine image
OS: Ubuntu 20.04
User name: Ubuntu-20-04
password: patchverif
cd regression/
python2 main.py
cd ~/Downloads/
./QGroundControl.AppImage
If you want to closely look into bugs discovered by PatchVerif, please review the below documentation.
Question: Why is this behavior a logic bug?
Answer: ArduPilot supports a pivot turn for ground vehicles (rovers). When a vehicle is near a corner, it decreases its speed, turns towards the next waypoint, and continues the navigation. Yet, a faulty patch makes the vehicle fail to decrease its ground speed even if it is near the corner. As a result, the vehicle deviates from the planned navigation path due to the high speed at the corner.
Question: Why is this behavior a logic bug?
Answer: The object avoidance with Dijkstra keeps failing to find a path when the rover is near a circular-shaped object (fence).