RTT 2.x

Setting up Ubuntu 10.10, Eclipse and Orocos

Ubuntu or Debian Packages

You can find Ubuntu packages of the Orocos Toolchain in the ROS package repositories. Look for the package ros-<releasename>-orocos-toolchain-ros, which installs the orocos_toolchain_ros version.

There are also build instructions for building some of these packages manually here: How to build Debian packages

The rest of this page mixes installing Java and building Orocos toolchain sources. Click below to read the rest of this post.

Installation

For general installation instructions specific to each software version, see the top level wiki page for each project (eg. RTT, KDL, etc) and look for Installation in the left toolbar.

See below for specific additional instructions.

Installing from binaries / package managers

Installing via Macports on Mac OS X

How to build Debian packages

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.

Name connections, not ports (aka Orocos' best kept secret)

Rationale

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 -->

Assumptions

  • The build directory is within the source directory.

How to build Debian packages

Rationale

You want to build debian packages once, so that you can install on multiple machines without building from source on each.

Assumptions

  1. You are building for gnulinux only.
  2. You have "svn-b", etc, alises setup (see "man svn-buildpackage").
  3. You are using Synaptic as your package manager.
  4. Example code is for Orocos v1.8, but also applies to later versions, including 2.x
  5. BASE_DIR is whatever directory you want to put everything into. Click below to read the rest of this post.

The Road to RTT 2.0

This Chapter collects all information about the migration to RTT 2.0. Nothing here is final, it's a scratch book to get us there. There are talk pages to discuss the contents of these pages.

These are the major work areas:

  • New Data Flow API, proposed by S. Joyeux
  • Streamlined Execution Flow API, proposed by P. Soetens (RTT::Message)
  • Full distribution support and cleanup (Events in CORBA)
  • Alternative Data Flow transport layer (non blocking).
  • Small tools for interacting with Components

If you want to contribute, you can post your comments in the following wiki pages. Click below to read the rest of this post.

Components for Control

The Orocos Component Library uses the Real-Time Toolkit (RTT) for constructing all its components.

Some components use the Kinematics and Dynamics Library (KDL), the Bayesian Filtering Library (BFL) or other libraries.

The OCL v2.0 is now an integral part of the Orocos Toolchain and only contains components for setting up and monitoring applications. Applications or hardware specific components have been removed.

The Orocos Real-Time Toolkit

The Orocos Real-Time Toolkit (RTT) provides a C++ framework, or "runtime", targeting the implementation of (realtime and non-realtime) control systems.
It is sometimes refered to as the 'Open Real-Time Control Services'.

The RTT v2.0 is now an integral part of the Orocos Toolchain. This page contains the information for RTT 1.x users