>
> Hello All,
>
> Can someone explain, how is real-time accomplished in OROCOS. I am trying
> to find an answer to this question ?
> Is that through the Xenomai or RTAI ?

You can select Xenomai OR RTAI/LXRT for having real-time threads. But you
don't create these threads directly, you create Orocos objects which
create these threads in the background. As such, your application is OS
independent and can, with a simple recompilation step, be exectued upon
another RTOS.

For example, If you use the RTT::PeriodicActivity class, a periodic RTOS
thread is created by Orocos which executes the code of that activity.

Choosing the RTOS is done by compiling the Orocos RTT for a given RTOS, by
setting OROCOS_TARGET=lxrt for example. When you compile an application,
you specify as well -DOROCOS_TARGET=lxrt and link with the orocos-rtt-lxrt
library.

See the installation guide for full details.

Peter