The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed us to sort out crucial requirements for a framework tailored for robotics: modularity and extensibility, source code reusability, feature richness, and user-friendliness. We implemented these requirements and collected best practices in Locosim, a cross-platform framework for simulation and real hardware. In this paper, we describe the architecture of Locosim and illustrate some use cases that show its potential.
@article{arxiv.2305.02107,
title = {Locosim: an Open-Source Cross-Platform Robotics Framework},
author = {Michele Focchi and Francesco Roscia and Claudio Semini},
journal= {arXiv preprint arXiv:2305.02107},
year = {2023}
}
Comments
12 pages, 4 figures, 1 table, accepted to Clawar 2023, for associated video see https://youtu.be/ZwV1LEqK-LU