The Orocos Toolchain

This page is meant to replace http://www.orocos.org/ soon.

Most of the manuals linked below should probably be rewritten in Markdown to be rendered by Jekyll. Contributions are welcome!

Online API resources

Latest released version (2.9.0)

• RTT API Reference
• OCL API Reference

Latest development version (master)

• RTT API Reference
• OCL API Reference

Cheat sheets

• OROCOS Cheat Sheet
• RTT Cheat Sheet

All manuals

• Installing the RTT (pdf)
• Component Builder’s Manual (pdf)
• Building Components using oroGen
• Orocos plugins (pdf)
• Orocos typekits (pdf)
• Building Typekits using typegen
• Orocos TaskBrowser (pdf)
• Orocos Deployment (pdf)
• Orocos Reporting (pdf)
• Orocos CORBA Transport (pdf)
• Orocos Message Queue Transport (pdf)
• The RTT-Lua Cookbook

What is the Orocos Toolchain?

The Orocos Toolchain is your primary tool to create real-time robotics applications using modular, run-time configurable software components.

It provides:

• Multi-platform support: Linux, Windows (Visual Studio) and Mac OS X
• Extensions to other robotics frameworks: ROS, Rock, Yarp
• Code generators to transfer user-defined data between distributed components
• Run-time & real-time configurable and scriptable components
• Logging and reporting of system events and communicated data

It consists of:

• AutoProj, A tool to download and compile the necessary libraries (optional)
• The Real-Time Toolkit, a component framework that allows us to write real-time components in C++
• The Orocos Component Library, the necessary components to start an application and interact with it at run-time
• OroGen and TypeGen, tools to generate ready-to-compile-and-run code from existing headers or component description files

Components built by users of Orocos are hosted in their own repositories.