Abstract
Communication between software components is one of the most important functionalities a software framework for modern complex robotic systems has to provide. Here, we present the highly performant realtime communication layer of our new robotic software framework aRDx (agile robot development – next generation), with, e.g., zero-copy semantics, realtime determinism and detailed control of the QoS (quality of service). In addition, we give an in- depth performance comparison to other popular robotic frameworks, namely ROS, YARP, Orocos and aRD.
Similar content being viewed by others
References
PR2 - Personal Robot 2. [Online]. Available: www.willowgarage.com
Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., Ng, A.: Ros: an open-source robot operating system. In: Proceedings of the Open-Source Software workshop at the International Conference on Robotics and Automation (ICRA) (2009)
Icub. [Online]. Available: http://www.icub.org
Metta, G., Fitzpatrick, P., Natale, L.: YARP: yet another robot plattform. Int. J. Adv. Robot. 3(1), 43–48 (2006)
Bäuml, B., Schmidt, F., Wimböck, T., Birbach, O., Dietrich, A., Fuchs, M., Friedl, W., Frese, U., Borst, C., Grebenstein, M., Eiberger, O., Hirzinger, G.: Catching flying balls and preparing coffee: Humanoid Rollin’Justin performs dynamic and sensitive tasks. In: Proceedings of the IEEE International Conference on Robotics and Automation (2011)
Bäuml, B., Hirzinger, G.: When hard realtime matters: Software for complex mechatronic systems. Robot. Auton. Syst. 56(1), 5–13 (2008)
Orocos. [Online]. Available: http://www.orocos.org
Einhorn, E., Langner, T., Stricker, R., Martin, C., Gross, H.-M.: Mira - middleware for robotic applications. In: Proceedings of the IEEE International Conference on Intelligent Robots and Systems (2012)
Hammer, T., Bäuml, B.: The highly performant and realtime deterministic communication layer of the ardx software framework, In: Proceedings International Conference on Advanced Robotics (ICAR) (2013)
Racket. [Online]. Available: http://racket-lang.org
Reppy, J.H.: Concurrent Programming in ML, Cambridge University Press (1999)
Gallmeister, B.O.: POSIX. 4: Programming for the Real World. O’Reilly (1995)
The MathWorks. [Online]. Available: http://www.mathworks.com/
Ethercat. [Online]. Available: http://www.ethercat.de
Bäuml, B., Hammer, T., Wagner, R., Birbach, O., Gumpert, T., Zhi, F., Hillenbrand, U., Beer, S., Friedl, W., Butterfass, J.: Agile justin: An upgraded member of dlr’s family of lightweight and torque controlled humanoids. In: Proceedings of the IEEE International Conference on Robotics and Automation (2014)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Hammer, T., Bäuml, B. The Communication Layer of the aRDx Software Framework: Highly Performant and Realtime Deterministic. J Intell Robot Syst 77, 171–185 (2015). https://doi.org/10.1007/s10846-014-0095-9
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-014-0095-9