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Locosim: An Open-Source Cross-Platform Robotics Framework

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Synergetic Cooperation between Robots and Humans (CLAWAR 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 811))

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Abstract

The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed us to sort out crucial requirements for a framework tailored for robotics: modularity and extensibility, source code reusability, feature richness, and user-friendliness. We implemented these requirements and collected best practices in Locosim, a cross-platform framework for simulation and real hardware. In this paper, we describe the architecture of Locosim and illustrate some use cases that show its potential.

Michele Focchi, Francesco Roscia: The authors equally contributed to this paper.

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Notes

  1. 1.

    Locosim can be downloaded from www.github.com/mfocchi/locosim.

  2. 2.

    Some of the functions in Locosim components, which are quite established for the robotics community, are named after [3].

  3. 3.

    A video showing the above-mentioned and other use cases can be found here: https://youtu.be/ZwV1LEqK-LU.

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Correspondence to Francesco Roscia .

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Focchi, M., Roscia, F., Semini, C. (2024). Locosim: An Open-Source Cross-Platform Robotics Framework. In: Youssef, E.S.E., Tokhi, M.O., Silva, M.F., Rincon, L.M. (eds) Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems, vol 811. Springer, Cham. https://doi.org/10.1007/978-3-031-47272-5_33

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