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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.
:"''...robotic middleware is designed to manage the complexity and heterogeneity of the hardware and applications, promote the integration of new technologies, simplify software design, hide the complexity of low-level communication and the sensor heterogeneity of the sensors, improve software quality, reuse robotic software infrastructure across multiple research efforts, and to reduce production costs.''"<ref>{{cite journal|last1=Elkady|first1=Ayssam|title=Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography|journal=Journal of Robotics|date=29 January 2012|volume=2012|pages=1–15|doi=10.1155/2012/959013|
It can be described as "software glue" to make it easier for robot builders focus on their specific problem area.<ref name="MW-00">{{Cite web|title=What is Middleware? |url=http://www.middleware.org/whatis.html |publisher=Defining Technology |work=Middleware.org |year=2008 |accessdate=2013-08-11 |
==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===
The [[Player Project]] (formerly the ''Player/Stage Project'') is a project to create [[free software]] for research into [[robotics]] and [[sensor]] systems.<ref>Gerkey, B., Vaughan, R., and Howard, A. (2003) The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems. ''Proceedings of the International Conference on Advanced Robotics'' 317-323</ref> Its components include the ''Player'' network server and the ''Stage'' robot platform simulators. Although accurate statistics are hard to obtain, Player is one of the most popular open-source robot interfaces in research and post-secondary education.<ref>Collet, T. H. J., MacDonald, B. A., and Gerkey, B. (2005) Player 2.0: Toward a practical robot programming framework. ''Proceedings of the Australasian Conference on Robotics and Automation (ACRA)''</ref> Most of the major intelligent robotics journals and conferences regularly publish papers featuring real and simulated robot experiments using Player and Stage.
=== RT-middleware ===
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[https://www.openhub.net/p/miro-middleware/ Miro] is a distributed object oriented framework for mobile robot control, based on [[CORBA]] (Common Object Request Broker Architecture) technology.
The Miro core components have been developed under the aid of ACE (Adaptive Communications Environment), an object oriented multi-platform framework for OS-independent interprocess, network and real time communication. They use TAO (The ACE ORB) as their ORB (Object Request Broker), a CORBA implementation designed for high performance and real time applications.
Currently supported platforms include [[Autonomous research robot|Pioneers]], the B21, some robot soccer robots and various robotic sensors.<ref>{{
===Orca===
[
* to enable software reuse by defining a set of commonly
* 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=
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
* 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===
[https://developer.nvidia.com/isaac-sdk ISAAC], The NVIDIA Isaac Software Development Kit (SDK) is a developer toolbox for accelerating the development and deployment of Artificial Intelligence-powered robots. The SDK includes the Isaac Robot Engine, packages with high-performance robotics algorithms (to perform perception and navigation), and hardware reference applications. Isaac Sim is a virtual robotics laboratory and a high-fidelity 3D world simulator. It accelerates research, design, and development in robotics by reducing cost and risk. Developers can quickly and easily train and test their robots in detailed, highly realistic scenarios. There is an open source community version available at GitHub with supported hardware platform includes BOM details, refer [https://github.com/nvidia-isaac/kaya-robot kaya-robot]
===ROS===
[http://www.ros.org/core-components/#communications_infrastructure ROS]
===YARP===
=== 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 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}}
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