The Open RObot COntrol System (OROCOS)
project reached a milestone today with the release of version 1.0 of
their C++ toolkit. The OROCOS project provides three tightly integrated
pieces of software. The first piece of software is a realtime control
framework. The second is a robot control package consisting of class
libraries for control, motion generation, kinematics, dynamics, and
other robot-specific algorithms. The third is an application independent
framework for inference in Dynamic Bayesian Networks. OROCOS is Free Software
licensed under the GNU GPL. If you've
been thinking about building a PC-based robot, this would provide a
great software base to start from. The full text of their release
announcement is included below.
The past year has been a milestone for Orocos. Never in the history of
was so much time and effort invested in inventing an easy to use tool for
building control applications. Every one who had a part in this process can
be genuinely proud. Gentlemen, start your controllers !
The Orocos development team is proud to announce the first stable
release of the Real-Time Toolkit (RTT), a C++ toolkit for building
component based, real-time robotics and machine control applications.
A new community website has been created in order to provide Orocos
users a forum for collaboration and easier access to information.
The website features also the releases of:
* the 'Kinematics and Dynamics Library' (KDL) for calculating
kinematic chains in real-time applications;
* the 'Orocos Components Library' (OCL) which offers components
for hardware access (such as vision or force sensors), motion
control and component management;
* the 'Bayesian Filtering Library' (BFL) which provides an
application independent framework for inference in Dynamic
The Real-Time Toolkit 1.0 allows rapid software component development
and prototyping for control applications. Each component comes with
built-in XML configuration, a real-time scripting interface, data
ports for thread-safe data exchange and a user definable command
The powerful Orocos 'TaskBrowser' component helps developers
to run and debug their components, stand-alone or in a network and
helps eliminating recompilation steps during development.
Has anyone tried this combination? I'd be curious to hear how they make out with it. The Robostix is an AVR-based plug-in board for the Gumstix platform. I haven't played with it, but I'm getting into AVR processors and have been eyeballing the Gumstix + Robostix combination as my first choice for a larger platform. I'm planning on using FreeRTOS on an AVR for two current projects, but I wouldn't mind exploring OROCOS for the Gumstix setup.
Anyone used OROCOS before? I'd play with it now, but I don't have a setup that'd take any sort of advantage of it. Not yet, anyway...