Locosim: an Open-Source Cross-Platform Robotics Framework (Clawar 23)

Locosim: an Open-Source Cross-Platform Robotics Framework Michele Focchi, Francesco Roscia, Claudio Semini, Clawar 2023 Abstract The architecture of a robotics software framework tremend- ously influences the effort and time it takes for end users to test new con- cepts in a simulation environment and to control real hardware. Many years of activity in the field allowed us to sort out crucial requirements for a framework tailored for robotics: modularity and extensibility, source code reusability, feature richness, and user-friendliness. We implemen- ted these requirements and collected best practices in Locosim, a cross- platform framework for simulation and real hardware. In this paper, we describe the architecture of Locosim and illustrate some use cases that show its potential. Find out more: