XBotCore is the new software architecture to control ADVR robots: it uses Xenomai API to satisfy Real-Time requirements.
Moreover it provides XDDP pipes communication with a Not-Real-Time communication API.
A paper describing the XBotCore software architecture can be downloaded here . If you're going to use this library for your work, please quote it within any resulting publication:
Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Alessio Rocchi, Darwin G Caldwell, Nikos G Tsagarakis "XBotCore: A Real-Time Cross-Robot Software Platform", IEEE International Conference on Robotic Computing (IRC17), 2017.
The bibtex code for including this citation is provided:
@inproceedings{muratore2017xbotcore,
title={XBotCore: A Real-Time Cross-Robot Software Platform},
author={Muratore, Luca and Laurenzi, Arturo and Hoffman, Enrico Mingo and Rocchi, Alessio and Caldwell, Darwin G and Tsagarakis, Nikos G},
booktitle={IEEE International Conference on Robotic Computing, IRC17},
year={2017}
}