Robot Raconteur®: Updates on an Open Source Interoperable Middleware for Robotics.

Robot Raconteur® (RR) is a powerful communication framework for robotics, automation, building control, and the “Internet of Things”. RR provides unique plug-and-play, standardized, augmented object-oriented capabilities that greatly accelerate the development of systems and provide stable production performance. The project became open-source in 2018, and is available on GitHub under the Apache 2.0 license. This paper provides updates on the development of RR, the standardization of RR, the development of an ecosystem of standardized drivers, and example use cases for the framework. The RR Core library is approaching a 1.0 release with ROS Quality Level 2.