OpenRTM-aistにおけるCORBA通信とメッセージBroker付きPub/Sub型メッセージ通信による共存システムの可能性と応用例

抄録

Although CORBA interfaces are ordinarily used in building robot systems on OpenRTM-aist, there are some cases in which it is difficult to build robot systems just using these interfaces. By using brokered Pub/Sub messaging interfaces instead of the CORBA interfaces partially, you may be able to solve the problems. Additionally, you can also enhance the extensibility of robot systems by using the brokered Pub/Sub messaging interfaces. This paper discusses what is the best situation to integrate the brokered Pub/Sub messaging interfaces into robot systems considering about the features of the interfaces, and refers to some advantages of robot systems comprising these two interfaces.