2A1-G03 Implementation of new Data Ports in the OpenRTM-aist-1.0
Shinji KURIHARA, Tsuyoto KATAMI, Hiroaki HAKUTA, Hiromi MIYAMOTO, Takeshi Sakamoto, Noriaki ANDO · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2010
RT-Component framework in OpenRTM-aist provides DataPorts (a.k.a. InPort and OutPort) as data-centric communication interface. DataPorts have provided control methods for communication characteristics that vary according to the relation between RT-Components. Some additional functionalities for data exchange are introduced in the newly released OpenRTM-aist-1.0. In this paper, design and implementation of these features are shown and discussed.