RHD

Project page for Robot Hardware Daemon (RHD)

RHD is the realtime hardware abstraction layer for the RSE Mobotware platform. It is a flexible plug-in based HAL, that allows simple and fast integration of new robot platforms, sensor and actuator hardware.

Project details RHD:Features RHD:Downloads RHD:Changelog and roadmap RHD:Plug-ins RHD:FAQ

Documentation RHD:Variable database RHD:TCP/IP Server RHD:Realtime Scheduler RHD:Plug-in architecture RHD Code documentation http://server.elektro.dtu.dk/ftp/jca/mobotware/doc/rhd/index.html Project report Media:Rhd.pdf

News 18 September 2011: A new option is added to allow more than one write client, this is usefull if some variables - like a robot arm - is to be controlle from another client - set in server-clients group, like <clients number="10" allwriters="1"/>. 22 March 2010: RHD 2.2 is now fully operational and considered the new choice for implementations. It has been moved to the SVN trunk and is required to use the new Stage3 simulation plugin. 12 October 2009: RHD 2.2 work is in full progress. A substantial upgrade in the communications protocol will make it possible to observe write-variables from read-clients and furthermore provide better data security for slower updating clients (non real-time read-clients) 07 January 2009: RHD 2.0 is now considered stable and has been moved to svn trunk. Version 1.1 is still avaliable through svn tags, however it is deprecated. 29 September 2008: rFLEX plug-in is completed and ready for use (see doc here rFLEX plugin) See all news RHD:News