Welcome to xbot2’s documentation!

The xbot2 library is a real-time middleware for robotic applications.


  • a flexible hardware abstraction layer (HAL) which allows to cleanly support custom devices

  • external framework support (notably ROS) from the real-time domain

  • a multi-thread plugin handler to develop and run custom RT or non-RT components (plugins)

  • useful abstractions for inter-plugin communication, and configuration

Contribute and Support

If you’re a member of the IIT-HHCM team (Humanoid and Human-Centred Mechatronics Lab), you can have access to the issue tracker and source code. Otherwise, you are welcome to open issues at this link!

Cite our work

..with the bibtex below!

    title = {The XBot2 real-time middleware for robotics},
    journal = {Robotics and Autonomous Systems},
    volume = {163},
    pages = {104379},
    year = {2023},
    issn = {0921-8890},
    doi = {https://doi.org/10.1016/j.robot.2023.104379},
    url = {https://www.sciencedirect.com/science/article/pii/S0921889023000180},
    author = {Arturo Laurenzi and Davide Antonucci and Nikos G. Tsagarakis and Luca Muratore},
    keywords = {Real-time, Middleware, ROS, Hardware abstraction layer, Simulation}