Improving a Robotics Framework with Real

Middleware plays a crucial role in modern and object-oriented robotics frameworks aimed at developing reusable, scalable, and maintainable systems across different platforms and programming languages. This paper introduces a methodology designed to enhance an existing robotics framework with real-time and high-performance capabilities by utilizing the Data Distribution Service (DDS), a recently adopted standard. Given that complex robotics software often qualifies as distributed real-time systems, the proposed enhancements focus on stringent requirements related to throughput, latency, and jitter. The methodology encompasses an analysis of the existing framework, identifying performance bottlenecks and incorporating DDS features to ensure improved system responsiveness and reliability. Results demonstrate the framework's increased capability to meet real-time operational demands, thereby enabling more effective deployment of robotics applications in embedded platforms. This research is particularly significant for software engineers in the robotics domain, as it addresses the prevalent challenge of achieving high-performance metrics while maintaining the flexibility and modularity of system architectures.