Vectornav VN-200 User Manual download pdf (Page 19)

a better communication and real-time controlling, embedded subsystems like Orca are designed.

Usually, hardware vendors might not write a speciﬁc interface for such subs y s te ms. For utilizing

this h ar dware components, we have to wr it e some wrapper or even d r iver if there is no dr iver for

the base operating system. The work for these components is not quite diﬀerent from this project.

After getting a understanding of the hardware speciﬁcation and the communication protocol, it is

not hard to make a component work in a similar way.

Third, there are many communication middleware p latfor ms like Orca. One example is RC2. In

this project, we have only done some work in the Orca system. Under other platforms, the work

does not change a lot. If we spend some time on the communication protocol of these new platforms,

doing the same thing under a new platform will not take much eﬀort as this project, since we did

not have experience before.

In short, this project is s u cc es s fu l and it gives me valuable experience t o do si milar development

under othe r platforms or for other components.

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Vectornav VN-200 User Manual Page 19