We're upgrading to ROS Electric and Orocos 2.5. I'm the Guinea pig for getting the installation working with Xenomai. I'm running into some problems when I use rosmake to build orocos_toolchain, though.
Full details here: http://pastebin.com/KxqmE3MD
Running Ubuntu 11.10, with a vanilla kernel 18.104.22.168 patched with Xenomai 2.6.0. Xenomai was installed using the --dlopen-skins configure option. It seems to be loaded and running correctly. I installed ROS Electric using the Ubuntu packages (sudo apt-get install ros-electric-ros-base). Then I followed the instructions found at http://www.ros.org/wiki/orocos_toolchain for compiling Orocos from source. I set my OROCOS_TARGET variable to 'xenomai'. rosmake seems to find Xenomai just fine, but I get the following error:
make: Entering directory `/opt/ros/electric/stacks/orocos_toolchain/rtt/build'
Linking CXX shared library librtt-typekit-xenomai.so
CMakeFiles/rtt-typekit-xenomai_plugin.dir/RealTimeTypekitTypes.cpp.o: file not recognized: File truncated
collect2: ld returned 1 exit status
make: *** [rtt/typekit/librtt-typekit-xenomai.so.2.5.0] Error 1
This is probably a Xenomai 2.5 vs Xenomai 2.6 issue (given the error). Any ideas? Has this been fixed in a branch? Do I just need to bump back down to Xenomai 2.5?