Practical applications of the R2P embedded framework for robot rapid development

Rapid Robot Prototyping (R2P) is an open source HW/SW framework providing components for the rapid development of robotic applications. R2P framework components reuse and easy integration is obtained through an embedded real-time publish/subscribe middleware which allows distributed control loops to be set up in a flexible way. R2P aims at increasing hardware and software reuse while reducing integration time. In this paper we present the R2P framework detailing its architectural design and an example of robot platform developed with R2P. We also briefly discuss the flexibility of the approach and the easiness of reuse of its components.