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.
Locosim: An Open-Source Cross-Platform Robotics Framework / Focchi, M.; Roscia, F.; Semini, C.. - 811:(2024), pp. 395-406. ( 26th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2023 bra 2023) [10.1007/978-3-031-47272-5_33].
Locosim: An Open-Source Cross-Platform Robotics Framework
Focchi M.
;
2024-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione
