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    T. Hammer, Berthold Bäuml

    The Communication Layer of the aRDx Software Framework: Highly Performant and Realtime Deterministic

    Journal of Intelligent & Robotic Systems, vol. 77, pp. 171-185


    DOI: 10.1007/s10846-014-0095-9

    Abstract anzeigen

    Communication between software components is one of the most important functionalities a software framework for modern complex robotic systems has to provide. Here, we present the highly performant realtime communication layer of our new robotic software framework aRDx (agile robot development – next generation), with, e.g., zero-copy semantics, realtime determinism and detailed control of the QoS (quality of service). In addition, we give an in- depth performance comparison to other popular robotic frameworks, namely ROS, YARP, Orocos and aRD.