· 2015
PX4: A node-based multithreaded open source robotics framework for deeply embedded platforms
- 708citations
- 2015year
Short summary
PX4 is a novel, deeply embedded robotics middleware and programming environment that uses a multithreaded, publish-subscribe pattern and offers a Unix-like interface for microcontrollers, improving modularity and interoperability with systems like ROS.
AI-generated from the title and abstract; the full text is not read.
Key points
- PX4 is a multithreaded, publish-subscribe robotics middleware for deeply embedded platforms.
- It provides a Unix-like software interface, allowing reuse of common Unix knowledge and tools.
- The system architecture facilitates direct interface with ROS, allowing processes to run as native ROS nodes.
- PX4 offers lower latency and better hardware connectivity compared to typical Linux-based robotics systems.
AI-generated from the title and abstract; the full text is not read.
Abstract
We present a novel, deeply embedded robotics middleware and programming environment. It uses a multithreaded, publish-subscribe design pattern and provides a Unix-like software interface for micro controller applications. We improve over the state of the art in deeply embedded open source systems by providing a modular and standards-oriented platform. Our system architecture is centered around a publish-subscribe object request broker on top of a POSIX application programming interface. This allows to reuse common Unix knowledge and experience, including a bash-like shell. We demonstrate with a vertical takeoff and landing (VTOL) use case that the system modularity is well suited for novel and experimental vehicle platforms. We also show how the system architecture allows a direct interface to ROS and to run individual processes either as native ROS nodes on Linux or nodes on the micro controller, maximizing interoperability. Our microcontroller-based execution environment has substantially lower latency and better hardware connectivity than a typical Robotics Linux system and is therefore well suited for fast, high rate control tasks.
The authors' abstract, as published at the source., 2015 · DOI ↗
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Field: Hardware and Architecture
Hardware and ArchitectureComputer Science