Now located at http://orocos.org/wiki/rtt/examples-and-tutorials
The tutorials and example code are split in two parts, one for new users and one for experienced users of the RTT.
There are several sources where you can find code and tutorials. Click below to read the rest of this post.
This page summarizes how to compile RTT with Microsoft Visual Studio, using the native win32 api. RTT supports Windows out of the box from RTT 1.10.0 and 2.3.0 on. OCL is supported from 1.12.0 and 2.3.0 on.
This tutorial assumes you extracted the Orocos sources and all its dependencies in c:\orocos
For new users, RTT/OCL v2.3.x or later is recommended, included in the Orocos Toolchain v2.3.x.
We only support Visual Studio 2008 and 2005. Support for 2010 is on its way. Click below to read the rest of this post.
This page collects all the documentation users collected for building and using RTT on Windows. Note that Native Windows support is available from RTT 1.10.0 on, and that you might no longer need some of the proposed workarounds (such as using mingw or cygwin).
The recommended way of compiling the RTT on Windows is by using the Compiling on Windows with Visual Studio instructions.
This is a work in progress and only for RTT 1.x !
Problem: You want to pass custom types between distributed components, be able to see the value(s) of your custom type with in a deployer, and be able to read/write the custom type to/from XML files.
Solution: Develop two plugins that tell Orocos about your custom types.
<!-- break -->
- The build directory is within the source directory. Click below to read the rest of this post.
See below for specific additional instructions.
Installing from binaries / package managers
Installing from source
To install from source on *NIX systems such as Linux and Mac OS X, see the installation page specific to your software version (e.g. Click below to read the rest of this post.
Problem: How to reuse a component when you need the ports to have different names?
Solution: Name the connection between ports in the deployer. This essentially allows you to rename ports. Unfortunately, this extremely useful feature is not documented anywhere (as of July, 2009). <!-- break -->
- The build directory is within the source directory.
RationaleProblem: You want a component that connects to a remote TCP server, and reads data from it (this example could easily write, instead of reading). This component will block for varying amounts of time when reading.
Solution: Use a non-periodic component. Click below to read the rest of this post.
RationaleYou want to build debian packages once, so that you can install on multiple machines without building from source on each.
- You are building for gnulinux only.
- You have "svn-b", etc, alises setup (see "man svn-buildpackage").
- You are using Synaptic as your package manager.
- Example code is for Orocos v1.8, but also applies to later versions, including 2.x
- BASE_DIR is whatever directory you want to put everything into. Click below to read the rest of this post.
This wiki has only information for the OCL 1.x releases. For OCL 2.x, look at the 'Toolchain' wiki.