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 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 cases including handling disputes. One of the most important of the platform’s differentiators is its support for pluggable consensus protocols that enable the platform to be more effectively customized to fit particular

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 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 cases including handling disputes. One of the most important of the platform’s differentiators is its support for pluggable consensus protocols that enable the platform to be more effectively customized to fit particular

What’s new in v1.2 Getting Started Key Concepts Tutorials Operations Guides Commands Reference Architecture Reference Frequently Asked Questions Contributions Welcome! Glossary Releases Still Have Questions 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 cases including handling disputes. One of the most important of the platform’s differentiators is its support for pluggable consensus protocols that enable the platform to be more effectively customized to fit particular

ShardingSphere‐Sidecar(TODO) . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.1.4 Hybrid Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.2 Solution . . . . . . Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.4 Pluggable Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.4.1 Background Process Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278 Overall Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279 Encryption Rule . . .

ShardingSphere‐Sidecar(TODO) . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.1.4 Hybrid Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.2 Solution . . . . . . Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.4 Pluggable Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.4.1 Background Process Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268 Overall Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269 Encryption Rule . . .

ShardingSphere‐Sidecar(TODO) . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.1.4 Hybrid Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.2 Solution . . . . . . Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.4 Pluggable Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.4.1 Background Process Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 Overall Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290 Encryption Rule . . .