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Nowadays, the construction of a complex robotic system requires a high levelof specialization in a large number of diverse scientific areas. It isreasonable that a single researcher cannot create from scratch the entirety ofthis system, as it is impossible for him to have the necessary skills in thenecessary fields. This obstacle is being surpassed with the existent roboticframeworks. This paper tries to give an extensive review of the most famousrobotic frameworks and middleware, as well as to provide the means toeffortlessly compare them. Additionally, we try to investigate the differencesbetween the definitions of a robotic framework, a robotic middleware and arobotic architecture.

Robotic frameworks, architectures and middleware comparison