The code releases of 2011-2013 are in some regards rather specific to the robots of our team. After RoboCup 2012 we increased our efforts to move the parts of the code that are not robot specific into a standalone framework. Part of the structure was already visible in the 2012 code release, but there were still many cross-dependencies. The framework is meant to support various robots (not only humanoid ones) and is not limited to RoboCup.
This framework is being used in various research projects in our institute (two-legged robots, a quadcopter, an autonomous model car and a 6-wheeled robot). The download available includes the framework as well as a sample application to demonstrate the use.
We recommend you extract the desktop tool “FUremote” from our 2013 code release.