Locosim: An Open-Source Cross-Platform Robotics Framework
Locosim: An Open-Source Cross-Platform Robotics Framework
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.
12 pages, 4 figures, 1 table, accepted to Clawar 2023, for associated video see https://youtu.be/ZwV1LEqK-LU
- Italian Institute of Technology Italy
- University of Genoa Italy
- Goa University India
- University of Trento Italy
FOS: Computer and information sciences, Computer Science - Robotics, Computer architecture for robotics; Software tools for robot programming; Software-hardware integration for robot systems, Computer architecture for robotics, Software tools for robot programming, Software hardware integration for robot systems, FOS: Electrical engineering, electronic engineering, information engineering, Systems and Control (eess.SY), Electrical Engineering and Systems Science - Systems and Control, Robotics (cs.RO)
FOS: Computer and information sciences, Computer Science - Robotics, Computer architecture for robotics; Software tools for robot programming; Software-hardware integration for robot systems, Computer architecture for robotics, Software tools for robot programming, Software hardware integration for robot systems, FOS: Electrical engineering, electronic engineering, information engineering, Systems and Control (eess.SY), Electrical Engineering and Systems Science - Systems and Control, Robotics (cs.RO)
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