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Communication between software components is one of the most important functionalities a software framework for modern complex robotic systems has to provide. Here, we present the highly performant realtime communication layer of our new robotic software framework aRDx (agile robot development - next generation), with, e.g., zero-copy semantics, realtime determinism and detailed control of the QoS (quality of service). In addition, we give an in-depth performance comparison to other popular robotic frameworks, namely ROS, YARP, Orocos and aRD.
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Hammer et al. (2013) studied this question.
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