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Erschienen in:
2010 | OriginalPaper | Buchkapitel
Improving a Robotics Framework with Real-Time and High-Performance Features
verfasst von : Jesús Martínez, Adrián Romero-Garcés, Luis Manso, Pablo Bustos
Erschienen in: Simulation, Modeling, and Programming for Autonomous Robots
Verlag: Springer Berlin Heidelberg
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Middleware has a key role in modern and object-oriented robotics frameworks, which aim at developing reusable, scalable and maintainable systems using different platforms and programming languages. However, complex robotics software falls into the category of distributed real-time systems with stringent requirements in terms of throughput, latency and jitter. This paper introduces and analyzes a methodology to improve an existing robotics framework with real-time and high-performance features using a recently adopted standard: the Data Distribution Service (DDS).