{"id":1590,"date":"2023-12-05T09:48:37","date_gmt":"2023-12-05T08:48:37","guid":{"rendered":"https:\/\/babel.isa.uma.es\/kipr\/?p=1590"},"modified":"2023-12-05T09:48:37","modified_gmt":"2023-12-05T08:48:37","slug":"there-are-people-working-on-robotic-software-engineering-these-days-o-real-time-included","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=1590","title":{"rendered":"There are people working on robotic software engineering these days :-O ! (real-time included)"},"content":{"rendered":"<h4>Arturo Laurenzi, Davide Antonucci, Nikos G. Tsagarakis, Luca Muratore, <strong>The XBot2 real-time middleware for robotics, <\/strong> Robotics and Autonomous Systems, Volume 163, 2023 <a href=\"https:\/\/doi.org\/10.1016\/j.robot.2023.104379\" target=\"_blank\">DOI: 10.1016\/j.robot.2023.104379<\/a>.<\/h4>\n<blockquote><p>This paper introduces XBot2, a novel real-time middleware for robotic applications with a strong focus on modularity and reusability of components, and seamless support for multi-threaded, mixed real-time (RT) and non-RT architectures. Compared to previous works, XBot2 focuses on providing a dynamic, ready-to-use hardware abstraction layer that allows users to make run-time queries about the robot topology, and act consequently, by leveraging an easy-to-use API that is fully RT-compatible. We provide an extensive description about implementation challenges and design decisions, and finally validate our architecture with multiple use-cases. These range from the integration of three popular simulation tools (i.e. Gazebo, PyBullet, and MuJoCo), to real-world tests involving complex, hybrid robotic platforms such as IIT\\u2019s CENTAURO and MoCA robots.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Arturo Laurenzi, Davide Antonucci, Nikos G. Tsagarakis, Luca Muratore, The XBot2 real-time middleware for robotics, Robotics and Autonomous Systems, Volume <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=1590\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[66],"tags":[422,505],"class_list":["post-1590","post","type-post","status-publish","format-standard","hentry","category-robotic-software","tag-component-based-software-engineering","tag-real-time-systems-in-practical-industries"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1590"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1590"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1590\/revisions"}],"predecessor-version":[{"id":1591,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1590\/revisions\/1591"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1590"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1590"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1590"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}