We are proud to announce the first release of the Robotics Application Construction Kit (RACK) project. Version 0.1.0 as well as the evolving subversion repository can be found at
http://developer.berlios.de/projects/rack RACK aims at providing a framework for building robotics applications, specifically for mobile service robots. It supports the development of hard real-time as well as non-real-time components, it defines component classes for sensor and actuator drivers (e.g. robot chassis, laser scanners, cameras, odometry, GPS, or joysticks) as well as data processing components (e.g. laser scan post-processors, navigators, or localisation modules), and it specifies the interfaces between them. RACK's real-time components are implemented in C++ and make use of the real-time services Xenomai provides. Non-real-time components so far concentrates on GUI elements which are implemented in Java, extending this support to Linux C/C++ applications is planned. RACK comes with its own interprocess communication mechanism called TiMS (Tiny Messaging Service). TiMS supports both hard RT and non-RT communication via a mailbox mechanism, locally or distributed via RTnet or standard TCP/IP. Specifically TiMS' local exchange of larger message chunks is optimised for both determinism and throughput, an optimisation of the non-RT path is on our roadmap. RACK 0.1.0 comes with support for real hardware like the popular Pioneer platform, Sick LMS200 and Hokuyo URG laser scanners, or GPS NMEA modules. And it also contains simulators for a robot platform with odometry sensors and for a laser scanner. This allows to run a demo over a real-time platform without the need for specific hardware. Check the README for details. Documentation is yet far from being perfect (or is simple missing), also some quirks will certainly be hidden in the code. So, any questions on the design or bug reports are welcome and will help to improve the usability of RACK further. - The RACK development team - Daniel Jan Joerg (Leader) Matthias Marko Oliver University of Hannover, ISE, Real-Time Systems Group http://www.rts.uni-hannover.de
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