Robotics middleware: Difference between revisions

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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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===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.

=== DDX ===

[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.

==See External links also==

* [[Middleware for Robotic Applications]]

* [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

== 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}}