Abstract
In RT-Middleware, a data-centric communication pipeline between RT-Components called "Data Port" is designed for improving software reusability. Moreover, the OMG standardization such Robotic Localization Service is promoted. However, an actual I/O specification is different in each developer. In this paper, we first enumerates all the connection patterns of possible communication by adjusting protocols. And then, we propose a supporting tool for flexible data communication. The proposed tool generates source code based on information on the desired conversion. We actually implement the prototype tool of the automatic source code generator and evaluate it.
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