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Explore a comprehensive conference talk on plug-in based software architecture for robotics presented by Abishalini Sivaraman and Anthony Baker at CppCon 2023. Delve into the concept of plug-in architecture as a software design pattern that enables third-party developers to enhance system functionality without altering source code. Examine classic examples like web browser and text editor plugins, and learn how this architecture is extensively utilized in robotics. Discover the application of plugins in MoveIt, a motion planning framework for robotic arms, for testing various controllers, motion planning algorithms, and collision avoidance techniques. Gain insights on creating a simple plugin architecture in C++ with inspiration from the field of robotics and Robot Operating System. Benefit from the speakers' combined expertise in electrical and computer engineering, robotics projects, and C++ development spanning over a decade.
