According to Freshmeat.net announcement, version 0.22.0 of the Open RObot COntrol System (OROCOS) has been released. This release includes major feature enchancements to the control kernel such as new kinematic and process components. OROCOS state machines can now transition on the basis of OROCOS events which have been "reimplemented to be lock-free and hard real-time". The OROCOS project provides two tightly integrated pieces of software. The first is a realtime control framework and the second is a robot control package consisting of class libraries for control, motion generation, kinematics, dynamics, and other robot-specific algorithms. OROCOS is Free Software licensed under the GNU GPL. While OROCOS is probably overkill for simple robots, it's ideal for more complex Linux-based robots.