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

Introduction (required): Title and brief overview of what the poster reports on. Title: Pipeline architectures in C++: overloaded pipe operator | std::expected and its monadic operations Brief programmers. One of its most characteristic patterns is composition of functions in the form of a pipeline pattern. Since C++20 we can use the ranges library with its characteristic function composition abilities thanks to the overloaded pipe operator. In this poster I show how to implement a custom pipeline framework that employs std::expected, available since C++23. An overloaded custom pipe operator

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 arbitrary number of binaries, one for each different platform and configuration: operating system, architecture, compiler, build type, etc. Those binaries can be created and uploaded to a server with the same 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 arbitrary number of binaries, one for each different platform and configuration: operating system, architecture, compiler, build type, etc. Those binaries can be created and uploaded to a server with the same 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 arbitrary number of binaries, one for each different platform and configuration: operating system, architecture, compiler, build type, etc. Those binaries can be created and uploaded to a server with the same 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 arbitrary number of binaries, one for each different platform and configuration: operating system, architecture, compiler, build type, etc. Those binaries can be created and uploaded to a server with the same 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 arbitrary number of binaries, one for each different platform and configuration: operating system, architecture, compiler, build type, etc. Those binaries can be created and uploaded to a server with the same 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 arbitrary number of binaries, one for each different platform and configuration: operating system, architecture, compiler, build type, etc. Those binaries can be created and uploaded to a server with the same 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 arbitrary number of binaries, one for each different platform and configuration: operating system, architecture, compiler, build type, etc. Those binaries can be created and uploaded to a server with the same 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