Design principles of the component-based robot software framework Fawkes
- The idea of component-based software engineering was proposed more that 40 years ago, yet only few robotics software frameworks follow these ideas. The main problem with robotics software usually is that it runs on a particular platform and transferring source code to another platform is crucial. In this paper, we present our software framework Fawkes which follows the component-based software design paradigm by featuring a clear component concept with well-defined communication interfaces. We deployed Fawkes on several different robot platforms ranging from service robots to biped soccer robots. Following the component concept with clearly defined communication interfaces shows great benefit when porting robot software from one robot to the other. Fawkes comes with a number of useful plugins for tasks like timing, logging, data visualization, software configuration, and even high-level decision making. These make it particularly easy to create and to debug productive code, shortening the typical development cycle for robot software.
| Author: | Tim Niemüller, Alexander FerreinORCiD, Daniel Beck, Gerhard Lakemeyer |
|---|---|
| DOI: | https://doi.org/10.1007/978-3-642-17319-6_29 |
| Parent Title (English): | Simulation, Modeling, and Programming for Autonomous Robots |
| Publisher: | Springer |
| Place of publication: | Berlin |
| Document Type: | Conference Proceeding |
| Language: | English |
| Year of Completion: | 2010 |
| Date of the Publication (Server): | 2012/12/18 |
| First Page: | 300 |
| Last Page: | 311 |
| Note: | Second International Conference, SIMPAR 2010, Darmstadt, Germany, November 15-18, 2010 |
| Link: | https://doi.org/10.1007/978-3-642-17319-6_29 |
| Zugriffsart: | campus |
| Institutes: | FH Aachen / Fachbereich Elektrotechnik und Informationstechnik |
| collections: | Verlag / Springer |
