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

Snapshots, page 24. You can create and delete snapshots while the virtual machine is running. • Clean architecture; unprecedented modularity. VirtualBox has an extremely modular design with well-defined internal 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

(Save state, Send Shutdown, Poweroff), Discard Saved State, Show in fileSystem, Sort. • Clean architecture; unprecedented modularity. VirtualBox has an extremely modular design with well-defined internal 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

(Save state, Send Shutdown, Poweroff), Discard Saved State, Show in fileSystem, Sort. • Clean architecture; unprecedented modularity. VirtualBox has an extremely modular design with well-defined internal 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

(Save state, Send Shutdown, Poweroff), Discard Saved State, Show in fileSystem, Sort. • Clean architecture; unprecedented modularity. VirtualBox has an extremely modular design with well-defined internal 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

(Save state, Send Shutdown, Poweroff), Discard Saved State, Show in fileSystem, Sort. • Clean architecture; unprecedented modularity. VirtualBox has an extremely modular design with well-defined internal 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

attribute and represents the visual output of the virtual machine. The virtual display supports pluggable output targets represented by the IFramebuffer inter- face. Examples of the output target are a port. hotPluggable New value for the hot-pluggable device flag. Sets a flag in the device information which indicates that the attached device is hot pluggable or not. This may or may not be supported hotPluggable (read-only) boolean IMediumAttachment::hotPluggable Whether this attachment is hot pluggable or not. 5.82.1.12 bandwidthGroup (read-only) IBandwidthGroup IMediumAttachment::bandwidthGroup The

attribute and represents the visual output of the virtual machine. The virtual display supports pluggable output targets represented by the IFramebuffer inter- face. Examples of the output target are a port. hotPluggable New value for the hot-pluggable device flag. Sets a flag in the device information which indicates that the attached device is hot pluggable or not. This may or may not be supported hotPluggable (read-only) boolean IMediumAttachment::hotPluggable Whether this attachment is hot pluggable or not. 5.82.1.12 bandwidthGroup (read-only) IBandwidthGroup IMediumAttachment::bandwidthGroup The

attribute and represents the visual output of the virtual machine. The virtual display supports pluggable output targets represented by the IFramebuffer inter- face. Examples of the output target are a port. hotPluggable New value for the hot-pluggable device flag. Sets a flag in the device information which indicates that the attached device is hot pluggable or not. This may or may not be supported hotPluggable (read-only) boolean IMediumAttachment::hotPluggable Whether this attachment is hot pluggable or not. 5.93.1.12 bandwidthGroup (read-only) IBandwidthGroup IMediumAttachment::bandwidthGroup The