Tekkotsu
an application framework for robotic platforms
“Tekkotsu” means “iron bones” in Japanese, often used in the context of buildings' structural framework. Similarly, this software package aims to give you a structure on which to build. It handles the low level or routine tasks for you, so that you can concentrate on whatever is unique to your application. Tekkotsu is an object oriented and event passing architecture, similar in design to Java, written in C++ and developed mainly on AIBO (but with portability in mind).
http://tekkotsu.org/