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

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

delete snapshots while the virtual machine is running. • Clean architecture; unprecedented modularity. VirtualBox has an extremely modular design with well-defined internal programming interfaces and a or even remotely. See chapter 1.14, Alternative front-ends, page 30 for details. Due to its modular architecture, VirtualBox can also expose its full functionality and con- figurability through a comprehensive different boot loader and replaced files), VirtualBox is the first product to provide the modern PC architecture expected by OS X without requiring any “hacks”. You should be aware of a number of important issues

of the first things programmers learn, granting you the ultimate power to 'reuse' code and build modular programs. In this talk, we are going to provide an overview of functions from the start to the end think about them. ○ Let’s explore further! 23Functions An Abstraction for Writing Reusable and Modular Code At the very minimum -- “a command that returns a value” 24General Purpose of a Function in refactor the code to make it a little cleaner. ○ This is our motivation for functions as well...modular pieces of code so we don’t have to repeat ourselves! 46 Exercise: Try removing the loop and using

Poweroff), Discard Saved State, Show in fileSystem, Sort. • Clean architecture; unprecedented modularity. VirtualBox has an extremely modular design with well-defined internal programming interfaces and a or even remotely. See chapter 1.16, Alternative front-ends, page 32 for details. Due to its modular architecture, VirtualBox can also expose its full functionality and con- figurability through a comprehensive ferent boot loader and replaced files), VirtualBox is the first product to provide the modern PC architecture expected by OS X without requiring any “hacks”. You should be aware of a number of important issues

Poweroff), Discard Saved State, Show in fileSystem, Sort. • Clean architecture; unprecedented modularity. VirtualBox has an extremely modular design with well-defined internal programming interfaces and a or even remotely. See chapter 1.17, Alternative front-ends, page 34 for details. Due to its modular architecture, VirtualBox can also expose its full functionality and con- figurability through a comprehensive ferent boot loader and replaced files), VirtualBox is the first product to provide the modern PC architecture expected by OS X without requiring any “hacks”. You should be aware of a number of important issues

Poweroff), Discard Saved State, Show in fileSystem, Sort. • Clean architecture; unprecedented modularity. VirtualBox has an extremely modular design with well-defined internal programming interfaces and a or even remotely. See chapter 1.17, Alternative front-ends, page 34 for details. Due to its modular architecture, VirtualBox can also expose its full functionality and con- figurability through a comprehensive ferent boot loader and replaced files), VirtualBox is the first product to provide the modern PC architecture expected by OS X without requiring any “hacks”. You should be aware of a number of important issues

Poweroff), Discard Saved State, Show in fileSystem, Sort. • Clean architecture; unprecedented modularity. VirtualBox has an extremely modular design with well-defined internal programming interfaces and a or even remotely. See chapter 1.16, Alternative front-ends, page 33 for details. Due to its modular architecture, VirtualBox can also expose its full functionality and con- figurability through a comprehensive ferent boot loader and replaced files), VirtualBox is the first product to provide the modern PC architecture expected by OS X without requiring any “hacks”. You should be aware of a number of important issues

Vulnerabilities What can we do then? 24 Explore Tooling Processes Architecture CultureArchitecture 25Control and reduce risk Risk Driven Architecture 26 SW System/Item (Class C) SW Item X (Class C) SW Reduce Coupling & Enhance CohesionSafety Critical Path vs Non-Real Time Domain Risk Driven Architecture 27 SW System/Item (Class C) SW Item X (Class C) SW Item Y (Class B) SW Item Z (Class Compliance and possibly being safety certified (3rd party vendors), ... ❖ What can help: ➢ Modular and decoupled architecture, Frequent tech debt reviews, Security/Compliance tracking, Established testing framework

development of the architecture precede sprint development. Alternatively, a program can initially use a traditional approach to build the initial increment that meets the baseline architecture requirements deliverables (e.g., code)?  Is there a clear owner of the program (or broader enterprise) architecture?  Is there a clear, early commitment from user representatives and the broader user base? enterprise architectures, frameworks, standards, or interfaces?  Can the development team access architecture documents and systems?  Are owners/representatives from these enterprise areas involved in