Linuxで低層レイヤでのロボット制御をするためのフレームワークのようなもの。 ARCS5.1の後継版。 良くある一般的なフツーのLinuxで,カーネルを一切イジることなく, さらにユーザ空間上でのコーディングであってもリアルタイム性の確保もしてくれる。 言語はC++17。
ARCS6講習会用のレクチャー資料を置いておきます。
インバータのゲートを叩くレベルでロボットを動かしている我々パワー研からすると,ROS/ROS2は上位層用である。 なので,ROSで上位層を,ARCS6で下位層を作るという住み分けが正解。
ARCS6はBSDライセンスです。GPLはやめました。
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