NRP integration with Robotics framework


Dear NRP,

I am new to NRP and just trying to connect NRP to an external robotics framework. My questions are:

  • Is that NRP is deeply coupled with ROS in its code modules or they are composed of core modules with ROS wrapper packages?

  • If I wish to link NRP as a dependency to my project, which also links to another visualizer? What should be the recommended setup I should follow?

Thank you,



Dear Tadinu,

The NRP uses ROS as its messaging middleware.
Most of its components interact with each other via ROS Services/Topics.

Have a look at this paper that describes the architecture; although it has evolved since the publication of the article it remains is a valid source of information.




Dear Ugo,

Thanks a lot for forwarding the paper, which is a great reference!