RTT 2.x

(Yet another) guide to cross compiling the Orocos Toolchain

Sagar Behere has written down a nice blog post on a new way of cross compiling the Orocos Toolchain. See his announcement below:

For what it's worth, here is another howto


This method is quite painless, because there is no need to cross-compile the various supporting stuff like boost, libxml2, omniorb etc. Instead, we use xapt.

The howto is attached in markdown format, if anyone wants to put it on the orocos wiki.

Just my way of saying thanks for the good help I receive here :)


Telesurgery with reliable force feedback

Bert Willaert, researcher at department of Mechanical Engineering at the KU Leuven, Belgium, has used OROCOS for a highly dynamic force-feedback application.

Click below to read more about this movie.

Incompatible boost libraries between target gnuLinux and Xenomai?

Dear developers & users,

I have a full installation of Orocos 2.4.0 on my desktop computer ( Ubuntu 10.04 ) with gnulinux as target. Click below to read the rest of this post.

Unable to compile on Xenomai target¿?

Dear developers.

I develop a component in my desktop environment ( ubuntu 10.04 + gnulinux as target on Orocos 2.4.0 installation). All is fine on it.

But later,when I get the source project of my component and transfer it to my embedded platform (Debian 6.0.2 with Xenomai target on Orocos 2.4.0), the linker compilation crashed:

Linking CXX shared library libmydriver-xenomai.so
/usr/bin/ld: cannot find -llog4cpp
collect2: ld returned 1 exit status
make[2]: ***[libmydriver-xenomai.so] Error 1
make[1]: ***[CMakeFiles/ ... Click below to read the rest of this post.

SMP system advices


Sorry, it's not really an orocos related question. But i would like to know your opinion.

On a system with multiple cpus, i would like to segregate the system (daemon, network stuff like CORBA etc) to the first cpu for example, and have other cpu availaible for the application... Click below to read the rest of this post.

Building soem drivers do not build in Electric

Hi all,

We are trying to build soem stack but we get errors with the drivers, i.e. soem_beckhoff_drivers, soem_ebox and our own drivers. Click below to read the rest of this post.

XENOMAI_POSIX library not found

Dear all,

I try to compile RTT on Debian 6.0.2 embedded motherboard with Xenomai as target. But when it compile RTT appear that Found Xenomai but not the Optional Library XENOMAI_POSIX. The message said that I need to use a  XENOMAI_POSIX_ROOT_DIR environemnt variable ... somebody knows where is installed these library by default? because I put values like /usr/xenomai or usr/xenomai/lib and the error continues.

Thanks in advance Toni

Compile Toolchain with lxrt target


I have some doubts about how to compile orocos toolchain. I'm trying to use bootstrap.sh script, as explained on Quick Start page, but it doesn't give me an option to use lxrt target, only gnulinux and xenomai, like this:

 the target operating system for Orocos/RTT (gnulinux or xenomai) [gnulinux] 
What am I suppose to do? Compile RTT separately?

thanks in advance,


logger RT not compiling on project.

Dear developers,

I try to integrate the logger RT into my project top subsitute the current log4cxx on it. The problem is that all sourcecode compile correctly, but the Linker has not a correct reference into the scripts in order to load the library when it is executed. [ log4cpp::Category is not a avaliable object ]

>  make
Makefile:7: This Makefile builds this package with default settings
mkdir -p build
cd build ; cmake .. -DINSTALL_PATH=orocos && make
Detected OROCOS_TARGET environment variable. Click below to read the rest of this post.

Ports and Tasks Communications