Structural Improvements of the OpenRTM-aist Robot Middleware
The robot middleware is a key concept in developing complex robot systems even in geographically distributed environment. Giving a handy API, reusable standardized components and communication channels together with some automatism, the robot middleware helps the user to build easily reconfigurable systems. The behavior of the components and the manner of interaction among them are standardized by the Robotic Technology Component (RTC) specification. One implementation of the RTC specification is the OpenRTM-aist. It is a well written and convenient modular system built upon the Common Object Request Broker Architecture (CORBA). The first version of CORBA is released in 1991. Nowadays the CORBA is getting more and more out of date. Our ultimate goal is developing a new robot middleware in which we apply a modern distributed framework instead of CORBA. As a first step of the substitution we suggest some practical extensions of the OpenRTM-aist by the adaptation of the Internet Communication Engine (ICE) for component communication and the introduction of the web application concept for system editing and control. Having these structural modifications the resulting system became more powerful than the original system has been. The chapter introduces some structural and implementation details of the OpenRTM-aist together with the results of the experiments done for the performance comparison of the original and extended system.
KeywordsRobot System Virtual Space Structural Improvement System Editor Virtual Item
Unable to display preview. Download preview PDF.
- 4.Ando, N., Suehiro, T., Kitagaki, T., Kotoku, T., Yoon, W.K.: RT-Middleware: Distributed component middleware for RT (robot technology. In: Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), Edmonton, Canada, pp. 3555–3560 (2005)Google Scholar