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Design and Implementation of a YARP Device Driver Interface: The Depth-Sensor Case.

Alberto Cardellino1, A Ruzzenenti1, L Natale1

  • 1iCub Facility, Istituto Italiano di Tecnologia, Genoa, Italy.

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Summary
This summary is machine-generated.

A new Yet Another Robot Platform (YARP) device interface was developed to improve software integration and usability. This interface design helps avoid common errors when introducing new device families into the YARP network.

Keywords:
YARPclient server architecturedepth sensorhardware abstractionsoftware design

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Area of Science:

  • Robotics
  • Software Engineering
  • Computer Science

Background:

  • The Yet Another Robot Platform (YARP) is a middleware for robot control.
  • Integrating new device families into existing robotic systems can be challenging.
  • Existing YARP interfaces may lead to usability issues and integration errors.

Purpose of the Study:

  • To design and implement a new YARP device interface.
  • To enhance software integration and usability within the YARP network.
  • To provide a robust solution for introducing new device families.

Main Methods:

  • Illustrating the design phases of the new YARP device interface.
  • Developing a client/server implementation for the interface.
  • Creating a new interface within the YARP network for new device families.

Main Results:

  • A novel YARP device interface has been successfully designed.
  • The new interface facilitates smoother integration of new devices.
  • Improved software usability and reduced design errors were achieved.

Conclusions:

  • The developed YARP device interface enhances system reliability.
  • This approach simplifies the integration of diverse robotic hardware.
  • The design methodology offers a scalable solution for future robotic system development.