This paper describes the procedure followed for using third-party tools and applications, avoiding the development of complex communication software modules for data sharing. A common practice in robotics is the use of middlewares to interconnect different software applications, hardware components, or even complete systems. It allows code and tool reuse minimizing the development effort. In this way, applications developed for one middleware can be shared with others by means of establishing communication bridges among them. The most extended procedure is the development of software modules that use the low-level communication resources that middlewares provide. This procedure has many advantages but a clear disadvantage: the complexity of development. The procedure proposed is based on the use of cloud technologies for data sharing without the development of middleware bridges. The way of inter-relate different middlewares is by means of the development of a compatible robot model. This procedure has enabled the use of the ArmarX middleware tools and the application of the results obtained to the humanoid robot TEO, that uses the YARP middleware, in an easy and fast way.

中文翻译：

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使用多个平台、工具和云数据共享开发人形机器人应用程序

本文描述了使用第三方工具和应用程序所遵循的程序，避免了为数据共享开发复杂的通信软件模块。机器人技术的一种常见做法是使用中间件来互连不同的软件应用程序、硬件组件甚至完整的系统。它允许代码和工具重用，最大限度地减少开发工作。这样，为一个中间件开发的应用程序可以通过在它们之间建立通信桥梁的方式与其他中间件共享。最扩展的过程是开发使用中间件提供的低级通信资源的软件模块。这个过程有很多优点，但也有一个明显的缺点：开发的复杂性。所提议的程序基于使用云技术进行数据共享，而无需开发中间件桥接器。不同中间件相互关联的方式是通过开发兼容的机器人模型。该程序能够使用 ArmarX 中间件工具，并将获得的结果应用到使用 YARP 中间件的人形机器人 TEO 上，以简单快速的方式进行。