Abstract
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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Quigley, M., et al.: ROS: an open-source Robot Operating System. In: ICRA Workshop on Open Source Software (2009)
Metta, G., Fitzpatrick, P.: YARP: yet another robot platform. Journal on Advanced Robotics 3(1), 43–48 (2006)
Soetens, P.: A Software Framework for Real-Time and Distributed Robot and Machine Control. PhD thesis, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium (2006), http://www.mech.kuleuven.be/dept/resources/docs/soetens.pdf
Ando, N., Suehiro, T., Kotoku, T.: A Software Platform for Component Based RT-System Development: OpenRTM-Aist. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2008. LNCS (LNAI), vol. 5325, pp. 87–98. Springer, Heidelberg (2008)
Biggs, G., Ando, N., Kotoku, T.: Native Robot Software Framework Inter-operation. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2010. LNCS, vol. 6472, pp. 180–191. Springer, Heidelberg (2010)
Buschmann, F., Henney, K., Schmidt, D.C.: Pattern-Oriented Software Architecture: A Pattern Language for Distributed Computing, vol. 4. Wiley, Chichester (2007)
Wienke, J., Wrede, S.: A middleware for collaborative research in experimental robotics. In: IEEE/SICE International Symposium on System Integration (SII 2011), Kyoto, Japan. IEEE (2011)
Nordmann, A., Rolf, M., Wrede, S.: Software Abstractions for Simulation and Control of a Continuum Robot. In: Ando, N., Brugali, D., Kuner, J., Noda, I. (eds.) SIMPAR 2012. LNCS, vol. 7628, pp. 113–124. Springer, Heidelberg (2012)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Wienke, J., Nordmann, A., Wrede, S. (2012). A Meta-model and Toolchain for Improved Interoperability of Robotic Frameworks. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2012. Lecture Notes in Computer Science(), vol 7628. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34327-8_30
Download citation
DOI: https://doi.org/10.1007/978-3-642-34327-8_30
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34326-1
Online ISBN: 978-3-642-34327-8
eBook Packages: Computer ScienceComputer Science (R0)