1P1-Q05 Basic Study on Element Administration in Robotics Middleware : A first approach using Role Definitions(RT Middleware and Open System)

抄録

This article proposes a novel method for the administration of elements in robotics middleware according to their given Role Definition, which contains information about the element type, the functions that the element can perform, as well as the inputs and outputs related to it. By looking at the available elements and their classification based on their Role Definition, the elements can be managed. In order to test this method, an implementation that we named as Interface for Administration by Roles (IAR) is realized; it becomes the intermediary between element connections. The IAR can be used in the OpenRTM-aist platform as an RT-Component.