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\documentclass[tikz, border=5pt]{standalone}

\usepackage[utf8]{inputenc}% bei einer aktuellen TeX-Distribution nicht nötig
\usepackage[T1]{fontenc}
\usepackage{lmodern}
\usepackage[ngerman]{babel}

\usetikzlibrary{
	matrix,
	positioning,
	arrows.meta,
	calc%,
%	shadows
}

\tikzset{font=\sffamily}

\begin{document}
\begin{tikzpicture}[
	>={Stealth[round]},
	very thick,
	box/.style = {
		font=\sffamily\bfseries,
%		drop shadow,
		draw=#1!90!black,
		top color=#1!30!white,
		bottom color=#1,
		minimum width=3.2cm,
		minimum height=.7cm,
		rounded corners
	},
	box/.default=lightgray
]
\matrix [
	matrix of nodes,
	row sep=3mm,
	nodes={
		box,
		minimum width=4cm
	}
] (worker) {
	RotorControlWorker\\
	SimpleCameraWorker\\
	StereoCameraWorker\\
	ScaleWorker\\
	StereoDataWorker\\
};

\node [
	box=green!90!black,
	left=-1cm of worker-1-1,
	yshift=2.5cm
] (cp) {CameraProcessor};

\node [
	box=blue!30!cyan,
	minimum height=1cm,
	right=-1cm of worker-1-1,
	yshift=4cm
] (mw) {MainWindow};

\node [
	box=gray,
	right=8cm of cp
] (sqld) {SQL-Datenbank};

\node [
	box=yellow,
	above=of mw,
	yshift=1cm
] (gui) {GUI};


% Linien zwischen der Matrix und CameraProcessor
\draw (worker-5-1) -| (cp) coordinate [pos=.88] (p1) coordinate [pos=.98] (p2);
% Pfeil von der Matrix zum MainWindow
\draw [->] (worker-5-1) -| (mw) node [pos=.9, right] {Daten};

\foreach \row in {1,...,4}
	% Verbindungslinien der Matrix-Zeilen mit der Linie zu CameraProcessor
	% Verbindungslinien der Matrix-Zeilen mit der Pfeil zu MainWindow
	\foreach \boxname in {cp,mw}
		\draw (worker-\row-1)  -- (worker-\row-1-|\boxname);

% Pfeil zwischen MainWindow und Matrix
\draw [<->, shorten <=2pt, shorten >=2pt, dashed] (mw) to (worker-1-1);

\begin{scope}[shorten <=2pt, shorten >=10pt]
% Pfeil von MainWindow zu CameraProcessor
\draw [->] (mw.west) -- node [above left] {Sequenz} (cp.north);
% Pfeil zwischen MainWindow und SQL-Datenbank
\draw [<->] (mw.east) -- node [above right] {Daten} (sqld.north);
\end{scope}


% Pfeil von MainWindow zu GUI
\draw [->] 
	($(mw.north west)!2/3!(mw.north east)$) coordinate (mw above right)
	to node [right] {Ausgabe der Daten} 
	(mw above right|-gui.south)
;
% Pfeil von GUI zu MainWindow
\draw [<-] 
	($(mw.north west)!1/3!(mw.north east)$) coordinate (mw above left)
	to node [left, align=left] {Eingabe von Daten\\und Befehlen} 
	(mw above left|-gui.south)
;


% Pfeile unterhalb von CameraProcessor
\draw [->, transform canvas={xshift=2mm}] 
	(p1) to node [right] {Rückmeldung} (p2);
\draw [->, transform canvas={xshift=-2mm}]
	(p2) to node [left]  {Befehle} 	 (p1);
\end{tikzpicture}
\end{document}