OpenRDK is a modular software framework focused on rapid development of distributed robotic systems. It has been designed following users' advice and has been in use within our group for several years. By now OpenRDK has been successfully applied in diverse applications with heterogeneous robots and as we believe it is fruitfully usable by others we are releasing it as open source.
The OpenRDK can be downloaded from SourceForge.net. If you find any problem or you want more help, you can subscribe to the OpenRDK Support Mailing List.
In the following on the right we see an example. Two agents are executed on two different machines and three modules run inside them: hwInterface retrieves data from a laser range finder and the odometry from a robotic base; given this data, scanMatcher uses a scan-matching algorithm in order to estimate the robot positions over time; mapper uses the estimated robot positions, together with the laser scans, to build a map of the environment.
An example of two agents with some modules inside
In the figure above, the
All these entities are implemented in the OpenRDK core and usually all a developer is requested to do is to create a new module, that is a very easy task indeed (from the point of view of the framework: he can concentrate on the real problem, without having to care much about the framework).
OpenRDK comprises also
Who's using the OpenRDK framework
The OpenRDK framework is currently being used by: