Jacob Perrin

ROS 2 has become a foundational framework for modern robotics development, offering modularity, real-time capabilities, and broad community support. However, integrating ROS-based systems into rigorous validation workflows - such as Hardware-in-the-Loop (HIL), Software-in-the-Loop (SIL), and Model-in-the-Loop (MIL) - presents unique challenges in timing, determinism, and interoperability. This talk provides a technical overview of methodologies for embedding ROS nodes within closed-loop testing environments. Topics include synchronization of ROS communication with real-time systems, deterministic execution of control and perception algorithms, and interfacing with simulation platforms such as Gazebo, RViz, and FMI-compliant models. We will also examine the use of MCAP for scalable data logging and analysis, and discuss challenges and insights into high-fidelity data replay testing. Through practical examples and architectural patterns, the session aims to equip robotics engineers and system integrators with strategies to validate ROS-based systems under realistic and reproducible conditions, bridging the gap between open-source development and industrial-grade testing.