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

API server-side architecture for Beginners GopherCon ���� ����.��.�� - @hgsgtk © ����-���� BASE, Inc. � Talk abstract • A practical approach to build server-side architecture in a Go project � Problem of building architecture for beginners � Approach to build architecture � Summary � Talk structure © ����-���� BASE, Inc. � Problem of building architecture for beginners � Approach Approach to build architecture � Summary � Talk structure © ����-���� BASE, Inc. � Why I need server-side architecture �.Keep a design easy to change • -> Separate external input/output and business

uptake in many different computing sectors. The book also contains many insights about computer architecture in general, as well as explaining the particular de- sign choices we made in creating RISC-V. the point, and complete. The book’s commentaries provide a gratuitous history, motivation, and architecture critique. —C. Gordon Bell, Microsoft and designer of the Digital PDP-11 and VAX-11 instruction handy little book effortlessly summarizes all the essential elements of the RISC-V Instruction Set Architecture, a perfect reference guide for students and practitioners alike. —Professor Randy Katz, University

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

Started 11 4 Key Concepts 17 5 Tutorials 71 6 Operations Guides 157 7 Commands Reference 207 8 Architecture Reference 253 9 Frequently Asked Questions 287 10 Contributions Welcome! 293 11 Glossary 319 organizations and nearly 200 developers since its earliest commits. Fabric has a highly modular and configurable architecture, enabling innovation, versatility and optimization for a broad range of industry use more detail. 1.2 Modularity Hyperledger Fabric has been specifically architected to have a modular architecture. Whether it is pluggable con- sensus, pluggable identity management protocols such as LDAP

13 5 Getting Started 79 6 Tutorials 85 7 Operations Guides 181 8 Commands Reference 239 9 Architecture Reference 285 10 Frequently Asked Questions 319 11 Contributions Welcome! 325 12 Glossary 349 organizations and nearly 200 developers since its earliest commits. Fabric has a highly modular and configurable architecture, enabling innovation, versatility and optimization for a broad range of industry use more detail. 1.2 Modularity Hyperledger Fabric has been specifically architected to have a modular architecture. Whether it is pluggable con- sensus, pluggable identity management protocols such as LDAP

A R C H I T E C T U R E Architecture is both the process and the product of planning, designing, and constructing buildings or any other structures. Architectural works, in the material form of buildings K I N D A . . . ) M V C : M O D E L - V I E W- C O N T R O L L E R 1 9 7 0 S • Traditional architecture for GUI applications • Used in different environments
 Java, ASP, C#, PHP, all the classics to wedge it into iOS V I P E R 2 0 1 2 • Derivative of Uncle Bob’s (Robert C. Martin) Clean architecture (2012) • View presents user interface to user • Interactor performs business logic • Presenter

Layered architecture Modular monoliths Microkernel SOA Service-based architectures Microservices ���� ���� FP ���� ���� MicroKernel MVC Layered Architecture Hexagonal Architecture Onion Architecture Architecture Screaming Architecture ����� �� �� ���� BDD ����������������������������George Fairbanks�Pattern-oriented Software Architecture����� �������� ��� + ���� ���� ���� ���� ���������� �����Problem Space� ����Solution Space� �����Architectural Pattern� �����Design Pattern� ���Architecture� ���� �� �Module� ����� �Bounded Context� �� �Component� �� �service� � �library�

Developing Applications 99 7 Tutorials 151 8 Operations Guides 261 9 Commands Reference 333 10 Architecture Reference 377 11 Frequently Asked Questions 413 12 Contributions Welcome! 419 13 Glossary 443 organizations and nearly 200 developers since its earliest commits. Fabric has a highly modular and configurable architecture, enabling innovation, versatility and optimization for a broad range of industry use more detail. 1.2 Modularity Hyperledger Fabric has been specifically architected to have a modular architecture. Whether it is pluggable con- sensus, pluggable identity management protocols such as LDAP

Developing Applications 105 7 Tutorials 159 8 Operations Guides 279 9 Commands Reference 363 10 Architecture Reference 409 11 Frequently Asked Questions 443 12 Contributions Welcome! 449 13 Glossary 465 organizations and nearly 200 developers since its earliest commits. Fabric has a highly modular and configurable architecture, enabling innovation, versatility and optimization for a broad range of industry use more detail. 1.2 Modularity Hyperledger Fabric has been specifically architected to have a modular architecture. Whether it is pluggable con- sensus, pluggable identity management protocols such as LDAP