We are developing a framework for rapid pr … We are developing a framework for rapid prototyping of low-cost robotic systems. To fasten robot design and building, and to make software and hardware reuse easier, a modular architecture is mandatory.
In a context of smart modules that have to cooperate by exchanging data to reach their common goal, the communication protocol and middleware are core components.
This project is about the middleware component, a publish/subscribe system that takes care of managing topics, publisher and subscribers, and of marshaling data before sending it.
This project aims at porting the LCM marshaling and middleware library, developed at MIT and used in the Grand Challenge competition, to embedded systems, in order to exploit the existing LCM tools and to be compliant with an existing and efficient technology.
The project consists in:
* stripping non necessary features of LCM to match the constraints of an embedded system and of the communication protocol
* adding necessary features, like the concept of deadline (and priority as a consequence), that are mandatory for a real time distributed system
* building a gateway, on an embedded platform, that acts as gateway between the standard-LCM world and the embededd-LCM network
The projects has to be developed in ANSI C, and experience with embedded platforms is a plus. erience with embedded platforms is a plus.