Especially, how we were going to structure all the different code, from the vision system to HRI and all the way down to the low-level trajectory planning that is required for the many different and complex tasks Herbert would have to perform. First of all, we decided for a distributed software architecture for Herbert instead of a monolithic program. Therefore, all separate tasks split into their own program and then communicate with each other to build the complex system.
Through the advantage of modularity a program with a specific functionality is written and debugged once and then reused on different robots.
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