Open Source Robotics Middleware

Agricultural robots are complex systems. Typically many different processes need to run concurrently, such as navigation, perception, manipulation and process and mission control. Enabling this in a software system while keeping the software modular and well-structured calls for a programming framework including middleware.

Currently, there are a number of robot software frameworks and middlewares available. Most notably:

• ROS/ROS2

• YARP

• ROCK

• OROCOS

Recommendations

ROS2 is currently the robot middleware that is being developed and driven in the most professional way (by a consortium of more than 20 organisations). Therefore we recommend using ROS2 when building a new robot. YARP, OROCOS and ROCK are also viable solutions, but lack the ecosystem size of ROS/ROS2.

Related Links & Literature

[1] https://ros.org/

[2] https://yarp.it/latest//

[3] https://www.rock-robotics.org/

[4] https://orocos.org/