RTT 1.x

Using Orocos to visually track a free-floating target in micro-gravity

The Robotics Demonstration and Test team, in the NASA Goddard Satellite Servicing Capabilities Office, used the Orocos ecosystem to control a Motoman SIA10D industrial robot to demonstrate autonomous visual tracking of both cooperative, and uncooperative, targets in microgravity. NASA robot visually tracking a free-floating, non-cooperative targetNASA robot visually tracking a free-floating, non-cooperative target

Orocos 1.x for Windows?

Below, the story of an Orocos newbie...

What do I like to do? Get started with Orocos 1.x.

What is my preferred environment? C++, Windows, Eclipse

Is this realistic? I guess so:

  • Orocos has a 2.x version, so I suppose 1.x is super-stable and well-documented.
  • A first look at the site indicates that "RTT on MS Windows" is supported "out-of-the-box" as of 1.10.0.

So, here we go...

1) Start from http://www.orocos.org/wiki/rtt/rtt-ms-windows.

It indicates that 1.10.0 supports Windows out-of-the box, so that the work-arounds on this page are not needed anymore.

Fine. Click below to read the rest of this post.

Segfault when calling export function in non periodic activity

Hi all,

I am using Orocos 1.10 under linux.

I use a component with non periodic activity : do setActivity("MyComponent", 0.0, 0, ORO_SCHED_OTHER )

I create a script with this function :

export function test() {


In the TaskBrowser : - I call MyComponent.test() a first time -> no pb. - I call MyComponent.test() a second time -> i get a segfault, my application crashes

Back trace :

  1. 0 0x2a2a2a2a in ?? Click below to read the rest of this post.

Encoder Card with Orocos


I am doing a project with Orocos, and I need an analog output card and a encoder card. The analog output works successfully integrated into Orocos, using the class "ComediDevice" (and the card PCI-1720 by Advantech) but I can't integrate the encoder card.

I've looked at the list of "Supported Hardware" (http://www.comedi.org/hardware) and any two encoder cards appear in the list. Click below to read the rest of this post.

OCL Release 1.12.1 "undefined_referendce" and "sigfaul" (in xenomai)


Finally I succeeded to install the 1.12.1 version of OCL & RTT (to use the Comedi library), as well as having installed the latest toolchain. Well, I did "make install " (OCL & RTT) and the log show is installed everything correctly (in the correct directories.) - Attachments -

Modifying the component "HelloWorld", I created a function that runs on the "main"

  1. include <ocl/dev/ComediDevice.hpp>
  2. include <ocl/dev/ComediSubDeviceAOut.hpp>
  3. include <rtt/dev/AnalogOutput.hpp>


void test () {

ComediDevice * comediDevAOut; unsigned int minor = 0; ComediDevice com... Click below to read the rest of this post.

In scripting, 1-1+1=-1


I am using RTT/OCL 1.10

This is due to the fact that the operation is evaluated as 1-(1+1) Is is fixable, or already fixed in a more recent version ? Thanks

compiling rtt-1.12.1 for PowerPC, error when compiling "template_factory_test.cpp"

Hi all,

I am trying to build orocos-rtt-1.12.1 for powerpc. Click below to read the rest of this post.

RTT and OCL 1.12.1 released

The Orocos development team is pleased to announce the first bugfix release of the Real-Time Toolkit v1.12, a C++ toolkit for building component based, real-time robotics and machine control applications. Together with RTT, OCL 1.12.1 is released as well. This release aims at resolving some of the component and plugin loading issues that were discovered after the 1.12.0 release.

max number of commands called on a component

Using Orocos 1.10

Hello, I try to call many many commands on a component. Click below to read the rest of this post.

OCL with Xenomai: libnative.a: could not read symbols


I am trying to compile orocos 1.10 with Xenomai for PowerPC. Click below to read the rest of this post.