Version 11 (modified by foehst, 9 years ago) (diff)


Finroc 13.05 beta released

Finroc's source code was tidied up and refactored in order to be released. The core as well as central plugins and tools are now available. Further components are added until the final release.

Please note that several areas are still under construction. We hope to complete them in the next few months:

  • Documentation and website
  • Convenience of tooling (finstruct in particular)
  • Integrated data logging and playback facilities

Finroc - A framework for intelligent robot control

Finroc® is a modular C++/Java framework for robot control systems. It has been developed at the Robotics Research Lab of TU Kaiserslautern, Germany since 2008. In 2011 the four main authors founded the Finroc GbR - a company constituted under civil law - to make use of their copyright and release the software using a dual-licensing model. Additionally to a free GPL version, a commercial license is provided to be applied in proprietary products.

Design philosophy

Frameworks have fundamental impact on software quality of robot control systems - as well as development effort. Taking many existing approaches into account, the design of Finroc evolved around the question: What can be done in a framework in order to support or even guarantee relevant quality attributes of robot control systems? It is hardly possible to implement all the identified features at once. Thus, the initial design focused on areas that are hard to add or change later. The main developers used MCA2 before developing Finroc® and learned to appreciate many of its qualities. Thus, application style in Finroc® is similar.

Prominent features

  • Efficient (zero-copy), lock-free, real-time implementation
  • Scales up to thousands of components
  • Intra-process runtime construction
  • Slim and highly modular framework core
  • Separate, native C++11 and Java versions






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