AISS Miro Manual: A Rough Guide

Abstract : The Autonomous Land Systems (ALS) and Cohort projects undertaken by the Autonomous Intelligent System Section (AISS) at Defence R&D Canada - Suffield research and develop autonomous unmanned vehicles. A software architecture provides a common software framework allowing researchers to easily implement, test, and share their research or algorithms. After a thorough review of existing robotics toolkits, the Miro Autonomy. This document gives the reader background on Miro and the detailed procedure used to install the toolkit and all associated applications. Second, the basic concepts of Miro are described including the Interface Definition Language, Naming Service, Polled Mode Data Transfer, Event Driven Data Transfer and the Miro Directory Structure. Third, various Miro utilities and several Miro examples are described. Finally, more detailed Miro examples including how to add services to the Automake structure, the OMG Interface Definition Language and Parameter Files are discussed.