The XBot2 real-time middleware for robotics

This paper introduces XBot2, a novel real-time middleware for robotic applications with a strong focus on modularity and reusability of components, and seamless support for multi-threaded, mixed real-time (RT) and non-RT architectures. Compared to previous works, XBot2 focuses on providing a dynamic, ready-to-use hardware abstraction layer that allows users to make run-time queries about the robot topology, and act consequently, by leveraging an easy-to-use API that is fully RT-compatible. We provide an extensive description about implementation challenges and design decisions, and finally validate our architecture with multiple use-cases. These range from the integration of three popular simulation tools (i.e. Gazebo, PyBullet, and MuJoCo), to real-world tests involving complex, hybrid robotic platforms such as IIT's CENTAURO and MoCA robots. (c) 2023 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).