This part covers the Urbi architecture: its core components
(client/server architecture), how its middleware works, how to include extensions as UObjects (C ++
components) and so forth.
No knowledge of the urbiscript language is needed. As a matter of fact, Urbi can be used as a
standalone middleware architecture to orchestrate the execution of existing components.
Yet urbiscript is a feature that “comes for free”: it is easy using it to experiment, prototype, and
even program fully-featured applications that orchestrate native components. The interested
reader should read either the urbiscript user manual (Section II), or the reference manual
(Chapter 19).
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Chapter 3 — The UObject API
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This section shows the various steps of writing an Urbi C ++ component using the UObject
API.
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Chapter 4 — Use Cases
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Interfacing a servomotor device as an example on how to use the UObject architecture as
a middleware.