Open Robot Control Software

This website is a home for portable C++ libraries for advanced machine and robot control.
Click on one of the topics to learn more about these projects.

Kinematics & Dynamics Library Bayesian Filtering Library Orocos Toolchain Orocos

Orocos RTT and Willow Garage ROS integrated...

At Orocos RTT and ROS integrated you can see two Orocos developers (Ruben and Wim) hard at work... :-)

PR2 and OrocosPR2 and Orocos

"This video shows the integration between the ROS and the Orocos Real Time Toolkit (RTT), which was done by Orocos developer Ruben Smits during a month-long visit to Willow Garage. Click below to read the rest of this post.

Important notice for existing Real-Time Toolkit users

This summer, the Real-Time Toolkit will undergo its upgrade to reach version
2.0. This means some functions or classes will change. It is our intention to
make the transition for existing RTT-1.0 users as painless as
possible. In order to do so, the following objectives are set forth:

* To aim for simplification: pure out semantics of the functions and objects
* To not add complexity and to get a uniform 'look and feel'.
* To rename functions or classes if their semantics change
* To provide scripts that do necessary renames of changed functions, classes,
includes etc. <em>Click below to read the rest of this post.</em>

Programme of "Orocos Workshop" at EURON Annual Meeting in Leuven

The "Orocos Tutorial" workshop at the next Annual Meeting in Leuven
http://www.euron.org/activities/agms/index
will have the following programme.

We use our most complex multi-robot and multi-sensor application
http://www.orocos.org/node/766
as a guide to motivate the need for a project like Orocos, and to illustrate its main features. We will show how, where and why the total application makes use of the Realtime ToolKit (RTT), the Bayesian Filtering Library (BFL) and the Kinematics and Dynamics Library (KDL). <em>Click below to read the rest of this post.</em>

Real-Time Toolkit v1.8.2 Released

The Orocos development team is pleased to announce second bug fix
release of the Real-Time Toolkit v1.8, a C++ toolkit for building
component based, real-time robotics and machine control applications.

You can download this release from
http://www.orocos.org/stable/rtt/v1.8.2/orocos-rtt-1.8.2-src.tar.bz2
and read the installation instructions on
http://www.orocos.org/stable/documentation/rtt/v1.8.x/doc-xml/orocos-ins...

This release fixes a bug in Command processing, causing commands not
to be executed in certain configurations. <em>Click below to read the rest of this post.</em>

RTT 1.8.1 Released

The Orocos development team is pleased to announce first bug fix
release of the Real-Time Toolkit v1.8, a C++ toolkit for building
component based, real-time robotics and machine control applications.

You can download this release from
http://www.orocos.org/stable/rtt/v1.8.1/orocos-rtt-1.8.1-src.tar.bz2
and read the installation instructions on
http://www.orocos.org/stable/documentation/rtt/v1.8.x/doc-xml/orocos-ins...

This release fixes building with certain TAO setups, event ports
registration and emitting using DataPort and BufferPort and includes
a way to set a ... <em>Click below to read the rest of this post.</em>

RTT and OCL v1.8.0 Released

There's the joy of coding, and there's the joy of sharing. With this release,
we hit a new peak of sharing contributed code. Better CORBA support,
better component loading, better application building. All contributed
by those who know best what's needed most: today's users.

Read all about it in the release notes below. For those upgrading from 1.6.x,
see the changes document below for all note-worthy changes.

We're still updating the website, but you can pull the sources from the links below.
Also Debian packages for 1.8.0 are not yet released.

Peter

RTT and OCL v1.6.1 released

The releases are coming slower than we'd like to have it. In case you're
impatient, you can always checkout our svn branches from which these
releases were pulled. <em>Click below to read the rest of this post.</em>

RTT and OCL v1.6.0 Released

I can't believe we've let it slip for this long, but finally this release
arrived. Being planned for release somewhere 'the end of April', this hardly
can be called 'agile development'. I previously thought a good time for
release is when the code didn't change for about a month, and although we had
such moments, that was only because I lacked the time for processing the
ever-flowing in-pipe of bug reports and proposed fixes. It seems I'll have to
find another measure to get us back in the fast-track... The series of
changes is long and it hasn't always been easy to maintain backwards
compatibility. See below for a link to the possible issues you may encounter.

Blender-OROCOS robot control

The result of a master thesis: connecting Blender with OROCOS to execute milling tasks.


The demo was filmed by the students with a small camera. Sorry for the shaking at times !

Constraint-based motion specification application using two robots


The ACM research group of the K.U.Leuven used Orocos Real-Time Toolkit as framework for an involved robotics application as well as Orocos Bayesian filtering library and Kinematics and Dynamics Library as detailed in this paper.
The experiment consists of a complex task—“human-aware task execution”—involving two robot arms, five PCs interconnected by ethernet, and half a dozen or so sensors.