Software Deployment Infrastructure for Component Based RT-Systems | Zendy

Noriaki Ando | Zendy; Shinji Kurihara | Zendy; Geoffrey Biggs | Zendy; Takeshi Sakamoto | Zendy; Hiroyuki Nakamoto | Zendy; Tetsuo Kotoku | Zendy

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Software Deployment Infrastructure for Component Based RT-Systems

Author(s) -

Noriaki Ando,

Shinji Kurihara,

Geoffrey Biggs,

Takeshi Sakamoto,

Hiroyuki Nakamoto,

Tetsuo Kotoku

Publication year - 2011

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2011.p0350

Subject(s) - software deployment , component (thermodynamics) , middleware (distributed applications) , computer science , component based software engineering , installation , interface (matter) , operating system , software engineering , software , embedded system , software system , systems engineering , distributed computing , engineering , physics , thermodynamics , bubble , maximum bubble pressure method

In component-based Robotic Technology (RT) systems, launching the system involves installing component binary files to the target computers, instantiation of components, and establishing connections between components. In order to operate RT systems with many CPU nodes effectively, the deployment features provided by the middleware are important. Deployment means system life-cycle management, including software installation, configuring components, and launching components. In this paper, we describe deployment tools for RT systems. The component deployment functionality is realized based on the OMG Robotic Technology Component (RTC) specification [1]. Description formats are defined, a service interface is designed and tools are implemented using the OpenRTM-aist that is the implementation of the OMG RTC specification. The implemented deployment infrastructure is evaluated and discussed, and issues and potential future work are considered.

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