Software Repositories¶
The Vicarios ecosystem consists of several interconnected repositories designed for high-performance robotics, real-time middleware, and immersive simulation.
🚀 Core Repositories¶
Vicarios Robots¶
Hardware Control & Configuration
The central repository for robot-specific drivers and hardware abstraction layers. It provides the necessary interface logic to connect physical robotic platforms with high-level control software.
- Integration: Works in tandem with the Robot Importer for digital twin synchronization.
- Support: Open structured issues for hardware-specific bugs here.
EasyDDS¶
Middleware & Communication
A streamlined, lightweight C++ interface for Data Distribution Service (DDS) messaging. It abstracts the complexity of standard DDS, making it easier to implement low-latency communication in ROS 2 environments.
- Performance: Optimized for real-time telemetry and command streaming.
- Support: Open structured issues for middleware bugs here.
Robot Importer (Unreal)¶
Simulation & Visualization
A specialized plugin for Unreal Engine 5 that facilitates the import and simulation of complex robotic models (URDF/MJCF). It is essential for projects involving immersive teleoperation and high-fidelity rendering.
- Features: Supports foveated rendering and real-time unicasting.
- Support: Open structured issues for simulation bugs here.