Background¶

Astoria is not the first “Robot Management System” and takes heavy inspiration from it’s predecessors.

Herdsman¶

Herdsman is the original equivalent to Astoria for the SRv4 kit. It uses WAMP and HTTP for communication.

Developed by SourceBots, runusb is a simple python script that executes Python on an inserted USB drive.

It also had partial support for installing system updates.

Code execution was isolated in a systemd-nspawn container originally, but this only worked with robotd.

Developed for HR Robocon. Not open source.

Prototype. Uses DBus for all comms. A port to HTTP was started but then superceded by Astoria.

Less modular.