Robotics middleware: Difference between revisions

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{{short description|Middleware used in complex robot control software systems}}

{{external links|date=May 2018}}

'''Robotics middleware''' is [[middleware]] to be used in complex [[robot]] control software systems.

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==Robotics middleware projects==

A wide variety of projects for robotics middleware exist, but no one of these dominates - and in fact many robotic systems do not use any middleware.<ref name=tools>{{cite web|title=Tools, Standards, and Platforms for Commercial Robotics Development: An Adoption Profile|url=https://www.roboticsbusinessreview.com/uncategorized/tools-standards-and-platforms-for-commercial-robotics-development/|archive-url=https://web.archive.org/web/20180116004433/https://www.roboticsbusinessreview.com/uncategorized/tools-standards-and-platforms-for-commercial-robotics-development/|url-status=dead|archive-date=January 16, 2018|website=roboticsbusinessreview.com|accessdate=8 May 2017|date=October 2009}}</ref> Middleware products rely on a wide range of different standards, technologies, and approaches that make their use and interoperation difficult, and some developers may prefer to integrate their system themselves.<ref name=tools/>

===Player Project===

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===Orca===

[httphttps://orca-robotics.sourceforge.net/ Orca] describes its goals as:

* to enable software reuse by defining a set of commonly- used interfaces;

* to simplify software reuse by providing libraries with a high-level convenient API; and

* to encourage software reuse by maintaining a repository of components.

They also state: "To be successful, we think that a framework with such objectives must be: general, flexible and extensible; sufficiently robust, high-performance and full-featured for use in commercial applications, yet sufficiently simple for experimentation in university research environments."<ref name=orcao>{{cite web|title=Orca Overview|url=httphttps://orca-robotics.sourceforge.net/orca_doc_overview.html|accessdate=7 May 2017}}</ref>

They describe their approach as:

* adopts a Component-Based Software Engineering approach without applying any additional architectural constraints

* uses a commercial open-source library for communication and interface definition

* provides tools to simplify component development but makes them strictly optional to maintain full access to the underlying [[communication engine]] and services

* uses cross-platform development tools<ref name=orcao/>

Orca software is released under LGPL and GPL licenses.

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===Rock===

[https://robotik.dfki-bremen.de/en/research/softwaretools/rock.html Rock] (Robot Construction Kit), is a software framework for the development of robotic systems. The underlying component model is based on the Orocos RTT (Real Time Toolkit). Rock provides all the tools required to set up and run high-performance and reliable robotic systems for wide variety of applications in research and industry. It contains a rich collection of ready to use drivers and modules for use in your own system, and can easily be extended by adding new components.

===ISAAC SDK / Simulation===

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===ROS===

[http://www.ros.org/core-components/#communications_infrastructure ROS] {{Webarchive|url=https://web.archive.org/web/20180115071720/http://www.ros.org/core-components/#communications_infrastructure |date=2018-01-15 }} ([[Robot Operating System]]) is a collection of [[software framework]]s for [[robot]] software development on a heterogeneous [[computer cluster]]. ROS provides standard operating system services such as [[hardware abstraction]], low-level [[Device driver|device control]], implementation of commonly used functionality, [[Inter-process communication|message-passing between processes]], and package management.

===YARP===

[[YARP]] is an open-source software package, written in C++ for interconnecting sensors, processors, and actuators in robots.

==External= linksDDX ===

[https://research.csiro.au/software/spring/ DDX (Dynamic Data eXchange)] is ([[Linux]]/[[Berkeley Software Distribution|BSD]]/[[Unix]]) middleware developed by [[CSIRO]] to provide a lightweight real-time [[Publish–subscribe pattern|publish/subscribe]] service to distributed robot controllers. DDX allows a coalition of programs to share data at run-time through an efficient [[shared memory]] mechanism. Multiple machines can be linked by means of a global naming service and, when needed, data is [[Multicast address|multi-cast]] across machines.<ref>{{Cite journal |last=Corke |first=Peter |last2=Sikka |first2=Pavan |last3=Roberts |first3=Jonathan |last4=Duff |first4=Elliot |date=2004 |title=DDX: A distributed software architecture for robotic systems |url=https://eprints.qut.edu.au/33835/ |journal=Australasian Conference on Robotics and Automation 2004}}</ref> DDX was developed to automate a number of [https://research.csiro.au/robotics/our-work/solutions/miningtech/ large mining machines]: including [[Dragline excavator|draglines]], [[LHD (load, haul, dump machine)|LHD trucks]], [[Excavator|excavators]] and rock-breakers.

* [http://www.best-of-robotics.org/en/home.html BRICs]: a [[Seventh Framework Programme|European project]] that attempts to establish best practices in robot development

==See also==

* [[Middleware for Robotic Applications]]

== References ==

{{Reflist}}

== External links ==

* [http://www.best-of-robotics.org/en/home.html BRICs]: a [[Seventh Framework Programme|European project]] that attempts to establish best practices in robot development

{{DEFAULTSORT:Robotics Middleware}}