Pattern-Oriented Software Architecture: A Pattern Language for Distributed Computing
Pattern-Oriented Software Architecture: A Pattern Language for Distributed Computing
A Software Platform for Component Based RT-System Development: OpenRTM-Aist
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Native robot software framework inter-operation
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Software abstractions for simulation and control of a continuum robot
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Hi-index | 0.00 |
The emerging availability of high-quality software repositories for robotics promises to speed up the construction process of robotic systems through systematic reuse of software components. However, to reuse components without modification, compatibility at the interface level needs to be created, which is particularly hard if components were implemented in different robotic frameworks. In this paper we propose an approach using model-based techniques for improving component reusability. We specifically address data type compatibility in a structured way through the development of a generic meta-model capable of representing data types from different frameworks and their relations. Based on this model a code generator emits serialization code which makes it possible to seamlessly reuse the existing data types of different frameworks. The application of this approach is exemplified by connecting the YARP-based iCub simulation with a component architecture using a current robotics middleware. Based on our experiences we describe requirements on robotics frameworks to further increase the level of interoperability between available components.