Introduction

This repository contains the C++ implementation of the Robotics Service Bus middleware.

The full documentation for RSB can be found here.

Dependencies

• CMake build system
• Boost C++ libraries
• The RSC C++ library
• The RSB protocol definitions, but this dependency will be removed

Building and Installing

RSB uses the default CMake workflow (assuming the RSC library has already been installed into <prefix>):

cd <path to code>/build/
cmake -DCMAKE_BUILD_TYPE=debug -DCMAKE_INSTALL_PREFIX=<prefix> ..
make
make test       # opt. run unit tests
make doc        # opt. create doxygen documentation
make cppcheck   # opt. static code analysis
make install    # install

To generate a coverage report chose coverage as CMake build type and do

make
make test
make coverage

Contributing

If you want to contribute to this project, please

• Submit your intended changes as coherent pull requests
• Rebase onto the master branch and squash any fixups and corrections
• Make sure the unit tests pass (See Building and Installing)

Acknowledgments

The development of this software has been supported as follows:

• This research was funded by the EC 7th Framework Programme (FP7/2007-2013), in the TA2 (grant agreement ICT-2007-214 793) and HUMAVIPS (grant aggrement ICT-2009-247525) projects.
• The development of this software was supported by CoR-Lab, Research Institute for Cognition and Robotics Bielefeld University.
• This work was supported by the Cluster of Excellence Cognitive Interaction Technology ‘CITEC’ (EXC 277) at Bielefeld University, which is funded by the German Research Foundation (DFG).