In collaboration with University of Bielefeld, iRP is actively involved in implementing frameworks for developing realtime-capable software for robotic platforms. Our software suite facilitates the control of any robotic platform both in simulation and in the real environment.
Our framework relies on Orocos/RTT architecture which unlike other architectures (e.g., ROS, YARP, etc) is capable of hard-realtime communication between the controller and the robot. This is an important aspect that contributes to reliability and robustness of the controller, particularly in industrial environments.
Furthermore, the developed backbone, allows transparent switching between simulated and real robot with minimum or in some cases no effort for programmers. You can use, fork, and perhaps contribute to our open source framework at CoSiMA which is part of the CogIMon project.