Orocos Real-Time Toolkit 1.12 Release Series Changes, New Features, and Fixes

Open RObot COntrol Software

Table of Contents

1. Caveats
2. Improvements
2.1. OS Abstraction
2.2. CORBA Transport
3. Orocos Component Library (OCL)
3.1. Caveats
3.2. Improvements
1. About Orocos

This document provides a quick overview of what changed between the Real-Time Toolkit 1.10 and version 1.12. This release includes all bugfixes of the 1.10 branch. If your application does not work with this release, look here for possible causes and solutions. Also feature additions and improvements are documented.

1. Caveats

  • This release is binary incompatible with RTT 1.10.x. You need to recompile all your applications in order to upgrade to this release.

  • This release can only be compiled if you have CMake version 2.6.0 or higher, and 2.6.3 or higher is highly recommended for correctly detecting dependencies. If your distribution (like Debian Etch) does not support this look for a 'backports' version, or download and install a pre-built cmake package from www.cmake.org.

  • The DeploymentComponent's import statement no longer loads regular libraries. It only loads RTT components or plugins. If you require a library to be loaded in the deployer application, you should link your components against it or you can make it a plugin by implementing the Plugin API, as defined in the rtt/Plugin.hpp file.

2. Improvements

2.1. OS Abstraction

  • The win32 target (MS Windows + Visual Studio) is better supported than ever. It can load plugins, components and is feature-equivalent to Linux, except for real-time threads and lock-free data exchange.

  • You can check real-time performance of a part of your code by using the rtos_enable_rt_warning() and rtos_disnable_rt_warning() functions in your components. The Xenomai target will print a warning message when a not real-time function is called within such a section. The other targets will ignore this flag and can be safely compiled with these functions present.

  • The SimulationActivity's thread no longer automatically starts hogging the CPU, allowing the unit tests or other users to control when its thread runs.

2.2. CORBA Transport

  • Better bookkeeping is done to free CORBA transport resources when they are no longer necessary.

3. Orocos Component Library (OCL)

3.1. Caveats

  • This release is binary incompatible with OCL 1.10.x. You need to recompile all your applications in order to upgrade to this release.

3.2. Improvements

  • The DeploymentComponent's component and plugin loading is identical to the RTT/OCL 2.x behavior. It can load components and plugins from multiple paths, using the RTT_COMPONENT_PATH environment variable or XML property.

  • OCL's DeploymentComponent and TaskBrowser now work on Windows/Visual Studio compilers out of the box.

1. About Orocos

Please send your Orocos questions to orocos-users at lists.mech.kuleuven.be .

These pages are maintained by the Orocos team.

For questions related to the use of the Orocos Software, please consult these web pages and the Orocos RTT manuals. If that fails, the orocos-dev at lists.mech.kuleuven.be mailing list might help. Please send comments on these web pages and the development of Orocos to our developer mailing list at orocos-dev at lists.mech.kuleuven.be . All of our lists have public archives ( dev public archive ) .

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