robotics-software-principles

# Robotics Software Design Principles ## Why Robotics Software Is Different Robotics code operates under constraints that most software never faces: 1. **Physical consequences** — A bug doesn't just crash a process, it crashes a robot into a wall 2. **Real-time deadlines** — Missing a 1ms control loop deadline can cause oscillation or damage 3. **Sensor uncertainty** — All inputs are noisy, delayed, and occasionally wrong 4. **Hardware diversity** — Same algorithm must work on 10 different grippers from 5 vendors 5. **Sim-to-real gap** — Code must run identically in simulation and on real hardware 6. **Long-running operation** — Robots run for hours/days; memory leaks and drift matter 7. **Safety criticality** — Some failures must NEVER happen, regardless of software state These constraints demand disciplined design. Below are principles that account for them. --- ## Principle 1: Single Responsibility — One Module, One Job Every module (node, class, function) should have exactly ONE reason to change. **Why it matters in robotics**: A perception module that also does control means a camera driver update can break your arm controller. In safety-critical systems, this coupling is unacceptable. ```python # ❌ BAD: God module — perception + planning + control + logging class RobotController: def __init__(self): self.camera = RealSenseCamera() self.detector = YOLODetector() self.planner = RRTPlanner() self.arm = UR5Driver() self.l...