Outline ● What is plugin architecture? ● Why use plugin architecture? ● Designing a simplified plugin architecture ● Library used in robotics to implement plugin based system ○ Pluginlib ● Case study study for plugin architecture - MoveIt ● Limitations ● Summary 2Introduction •Abi Sivaraman •Robotics Engineer at PickNik Robotics •I work with robotic arms •MoveIt Maintainer 3What is plugin plugin architecture? Software Design Pattern that allows for developers to add functionality to a larger system without having to alter the source code of the system itself. Plug-ins are self-contained

embedded software • Started using C++ in 1995 • First cross-platform project in 1994Cross-Platform Architecture Goals • Take advantage of all platforms • Focus on the compiler • Minimize boilerplate and unnecessary requiring implementations that differ depending upon the target machine architecture. • Features may be hardware: CPU architecture, SIMD instruction set, DMA controller, GPIO module, etc. • Features

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated is saved. Note: Conan generates a default profile with your detected settings (OS, compiler, architecture...) and that configu- ration is printed at the top of every conan install command. However, it

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated is saved. Note: Conan generates a default profile with your detected settings (OS, compiler, architecture...) and that configu- ration is printed at the top of every conan install command. However, it

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated is saved. Note: Conan generates a default profile with your detected settings (OS, compiler, architecture...) and that configu- ration is printed at the top of every conan install command. However, it

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated command that requires a profile, such as conan install, your settings are detected (com- piler, architecture...) automatically and stored as default in a profile. You can change your those settings by editing

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated command that requires a profile, such as conan install, your settings are detected (com- piler, architecture...) automatically and stored as default in a profile. You can change your those settings by editing

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated command that requires a profile, such as conan install, your settings are detected (com- piler, architecture...) automatically and stored as default in a profile. You can change your those settings by editing

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated command that requires a profile, such as conan install, your settings are detected (com- piler, architecture...) automatically and stored as default in a profile. You can change your those settings by editing

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated as conan install. When running the command, your settings are automatically detected (compiler, architecture...) and stored as the default profile. You can edit these settings ~/.conan/profiles/default or