At PAL Robotics, we use the ROS framework to design software that is modular, configurable and testable. All of our robots, from small mobile bases to human-sized bipeds, are the result of a process of continual review, adaption and improvement. In this presentation, we will reveal some of the lessons we’ve learned when developing our software and how to design modular components for our robots. The control software architecture, based on OROCOS and ros_control, will be presented together with the ros_controllers we’re currently using. We will focus, in particular, on Whole Body Control as an efficient redundancy resolution controller that allows operators to generate real-time motions on anthropomorphic robots.