Some structural improvements of the OpenRTM robot middleware

Robot systems are comprised of several elements working together as a whole. The specific task of the robot system determines which elements are required. These reusable, fungible elements can be implemented as components which connect each other via communication channels and well-defined interfaces. The behavior of the components and the manner of interaction among them can be standardized by the Robotic Technology Component (RTC) specification. One promising implementation of the RTC specification called OpenRTM-aist is a software platform assisting to the component-oriented robot system development. In OpenRTM-aist both the specification and the implementation is based on the Common Object Request Broker Architecture (CORBA) and its remote method invocation. The first version of CORBA was released in 1991. In spite of the updates CORBA is getting more and more out of date. Several solutions exist which can replace or extend CORBA. Our ultimate goal is replacing the CORBA and setting up a modern distributed robot system development framework which is based on the original OpenRTM-aist specification. To be the first step of this task in this paper we suggest some practical extensions of the existing OpenRTM-aist robot middleware. These modifications are the adaptation of the Internet Communication Engine (ICE) for inter-component communication and as a new scheme, the introduction of the web application concept. After these structural modifications the resulting system became more powerful, and thanks to the web application concept much more user friendly.