Well, it been in the works for a few years, but a few days ago JPL released the first installment of the CLARAty framework. CLARAty, or Coupled Layer Architecture for Robotic Autonomy, is a very cool collection of software modules that we've developed for our rovers. Here's the announcement:
http://www-robotics.jpl.nasa.gov/new....cfm?NewsID=69
Now wouldn't it be cool if we could get CLARAty running on the new robot controller?
-Kevin