  In traditional robot behavior programming, the
edit-compile-simulate-deploy-run cycle creates a large mental disconnect
between program creation and eventual robot behavior. This significantly slows
down behavior development because there is no immediate mental connection
between the program and the resulting behavior. With live programming the
development cycle is made extremely tight, realizing such an immediate
connection. In our work on programming of ROS robots in a more dynamic fashion
through PhaROS, we have experimented with the use of the Live Robot Programming
language. This has given rise to a number of requirements for such live
programming of robots. In this text we introduce these requirements and
illustrate them using an example robot behavior.
