A middle way for robotics middleware

  • Paul Fitzpatrick iCub Facility Italian Institute of Technology (IIT) Via Morego 30, 16163, Genova, Italy
  • Elena Ceseracciu iCub Facility Italian Institute of Technology (IIT) Via Morego 30, 16163, Genova, Italy
  • Daniele Domenichelli iCub Facility Italian Institute of Technology (IIT) Via Morego 30, 16163, Genova, Italy
  • Ali Paikan iCub Facility Italian Institute of Technology (IIT) Via Morego 30, 16163, Genova, Italy
  • Giorgio Metta iCub Facility Italian Institute of Technology (IIT) Via Morego 30, 16163, Genova, Italy
  • Lorenzo Natale iCub Facility Italian Institute of Technology (IIT) Via Morego 30, 16163, Genova, Italy

Abstract

Robotics is changing. The amount of software available (and needed) is growing. For better or worse, the glue that holds thatsoftware together, the middleware, has a big impact on its viability. YARP is a middleware for robotics, with over a decade’s continuoususe on various humanoid robots. YARP was designed to help code survive changes, to easily experiment with new code and integratewith other systems. In a world of constant transition, with a steady stream of hardware and software upgrades, YARP helps code lastlong enough to make a real impact, and avoid premature loss of good code through middleware muddles. We review the features ofYARP that support this flexibility, describing those situations in which they have been practically useful.
Published
2014-10-03
Section
Short Papers