The Orocos User`s Manual
Contents
1. ponents CppUnit Library 1 9 6 Optional CppUnit website ht tp cppunit sourceforge ne t cgi bin moin cgi Only needed if you want to run the Orocos tests All these packages are provided by most Linux distributions Take also a look on the Orocos org RTT download http www orocos org rtt source page for the latest information 1 2 Installing on Debian Etch The Orocos Real Time Toolkit and Component Library have been prepared as Debian packages for Debian Etch See below for instructions for building your own packages on other distributions like Ubuntu For debian copy paste the following commands and enter your password when asked wget q O http people mech kuleuven be psoetens gpg key gpg sudo apt key add sudo wget q http www fmtc be sources list d fmtc list O etc apt sources list d fmtc list These commands install the GPG key and the repository location of the Orocos packages Installing Orocos Next type apt get update apt get install liborocos rtt corba gnulinux dev You can install Orocos for additional targets by replacing gnulinux by another tar get name see above if you want real time performance All targets can be installed at the same time For your application development you ll most likely use the Orocos Component library as well apt get install orocos ocl gnulinux dev orocos ocl gnulinux bin Again you may install additional targets We re2. ITAO IDL BE 17 Installing Orocos ITAO PortableServer ITAO CosNaming This is again the ACE build directory in case you use OCI s TAO packages The first option is not needed if you used your distribution s TAO installation in that case TAO is in the standard library path Important You also need to add path to ACE wrappers lib to the etc ld so conf file and rerun Idconfig such that these libraries can be found Or you can before you start your application type export LD LIBRARY PATH path to ACE wrappers lib 3 Getting Started with the Code This Section provides a short overview of how to proceed next using the Orocos Real Time Toolkit 3 1 A quick test To quickly test an Orocos application you can download the examples from the webpage on Component template http www orocos org ocl source which con tains a suitable CMake environment for building components or RTT Examples http www orocos org rtt source which contains a variety of demo programs If you built the RTT yourself you can issue a make check in the build directory which will test the RTT against your current target 3 2 What about main The first question asked by many users is How do I write a test program to see how it works Some care must be taken in initialising the realtime environment First of all you need to provide a function int ORO main int argc char argv defined in rtt os main h which contains your
3. i e recursive in formation processing and estimation algorithms based on Bayes rule such as Extended Kalman Filters Particle Filters Sequential Monte methods etc Orocos is a free software project hence its code and documentation are released under Free Software licenses Your feedback and suggestions are greatly appreciated Please use the project s mailing list http lists mech kuleuven be mailman listinfo orocos for this purpose 2 Target audience Robotics or machine control in general is a very broad field and many roboticists are pursuing quite different goals dealing with different levels of complexity real time control constraints application areas user interaction etc So because the ro botics community is not homogeneous Orocos targets four different categories of Users or in the first place Developers components configuration System Builders Component Builders Application connections Builders middleware Framework Builders 1 Framework Builders These developers do not work on any specific application but they provide the infrastructure code to support applications This level of supporting code is most often neglected in robot software projects because in the rather limited scope of each individual project putting a lot of effort in a generic support platform is often considered to be overkill or even not taken into consideration at all Howeve
4. building on your platform You need to make an ACE TAO build on your workstation Download the package here OCT Download http www theaceorb com downloads 1 4a index html Un pack the tar ball and enter ACE_wrappers Then do export ACE ROOT pwd export TAO ROOT pwd TAO Configure ACE for Linux by doing In s ace config linux h ace config h In s include makeinclude platform linux GNU in clude makeinclude platform macros GNU Finally type make cd TAO make cd orbsves make This finishes your TAO build Configuring the RTT for TAO Orocos will first try to detect your location of ACE and TAO using the ACE_ROOT and TAO_ROOT variables If these are set you can enable CORBA support ENABLE_CORBA within CMake Alternatively when you use the configure wrapper you can specify configure enable corba Application Development with TAO Once you compile and link your application with Orocos and with the CORBA functionality enabled you must provide the correct include and link flags in your own Makefile if TAO and ACE are not installed in the default path Then you must add e Compiling I path to ACE wrappers I path to ACE_wrappers TAO I path to ACE wrappers TAO orbsvcs This is the ACE build directory in case you use OCI s TAO packages This op tion is not needed if you used your distribution s TAO installation in that case TAO is in the standard include path e Linking L path to ACE_wrappers lib ITAO IACE
5. file and rerun Idconfig such that liblxrt so can be found This option is not needed if you configured RTAI with LXRT static inlining 2 4 Building for Xenomai version 2 2 0 or newer Y Note For older Xenomai versions consult the Xenomai README of that version Xenomai provides a real time scheduler for Linux applications See the Xenomai home page http www xenomai org Xenomai requires a patch one needs to apply upon the Linux kernel using the scripts prepare kernel sh script See the Xenomai installation manual When applied one needs to enable the General Setup gt Interrupt Pipeline option during Linux kernel configuration and next the Real Time Sub system Xenomai and Nucleus Enable the Native skin Semaphores Mutexes and Memory Heap Finally enable the Posix skin as well 15 2 4 1 2 4 2 Installing Orocos When the Linux kernel is built do in the Xenomai directory configure make make install You ll have to specify the install directory in the XENOMAI INSTALL DIR op tion during ccmake Loading Xenomai The RTT uses the native Xenomai API to address the real time scheduler The Xenomai kernel modules can be found in usr xenomai modules Only the follow ing kernel modules need to be loaded xeno hal ko xeno nucleus ko xeno native ko in that order For example by executing as root insmod xeno hal ko insmod xeno nucleus ko insmod xeno_native ko Compiling Applications wi
6. users don t have the Boost library libboost dev or lib boost devel installed Install this package from the binary or source package repos itory of your Linux distribution or download and install it from the Boost project http www boost org As soon as the configure step succeeds all the rest will suc ceed too Use the mailinglist at orocos dev lists mech kuleuven be gt for support questions 1 4 Installing an Orocos Build Orocos can optionally but recommended be installed on your system with make install 12 Installing Orocos The default directory is usr local but can be changed with the with prefix option configure with prefix opt other If you choose not to install Orocos you can find the build s result in the build src directory 2 Detailed Configuration using CMake In order to start cmake configuration in your build directory run ccmake Press c from c onfigure watch the output press e from e xit and modify the new options Repeat these steps until no errors are reported and the g from g enerate key can be pressed This causes the makefiles to be generated which allow the lib rary to be built 2 1 Configuring the target Operating System Move to the OROCOS TARGET press enter and type on of the following suppor ted targets all in lowercase gnulinux xenomai xrt The xenomai and Ixrt targets require the presence of the LINUX SOURCE DIR option si
7. with linux usr src linux make make check make install Where target is one of listed in configure help currently gnulinux Ixrt or xenomai When none is specified gnulinux is used prefix specifies where to install the RTT e with linux is required for RTAI LXRT and older Xenomai version lt 2 2 0 It points to the source location of the RTAI Xenomai patched Linux kernel See configure help for a full list of options Y Note The configure script is a wrapper around the cmake command and must be rerun after you installed missing libraries like Boost before you can build the RTT Real Time Toolkit Configuration The RTT can be configured depending on you target For embedded targets the large scripting infrastructure and use of exceptions can be left out When CORBA is available an additional library is built which allows components to communicate over a network In order to configure the RTT in detail you need to invoke the ccmake command cd orocos rtt 1 4 1 build cmake from your build directory It will offer a configuration screen The keys to use are arrows enter to modify a setting c to run a configuration check may be required multiple times g to generate the makefiles If an additional configuration check is required the g key can not be used and you must press again c and examine the output 11 Installing Orocos RTT with CORBA plugin I
8. L files For ex ample Kinematic Algorithm Control Parameters Homing Position Tool Type sez Methods Are callable by other components to calculate a result immediately just like a C function For example getTrackingError openGripper m writeData filename isMoving Commands Are sent by other components to instruct the receiver to reach a goal For example moveTo pos velocity home A command cannot in general be completely executed instantaneously so the caller should not block and wait for its completion But the Command object offers all functionalities to let the caller know about the progress in the execution of the command Events Allows functions to be executed when a change in the system occurs For example Position Reached Emergency Stop Object Grasped Besides defining the above component communication mechanisms Orocos allows the Component or Application Builder to write hierarchical state machines which use these primitives This is the Orocos way of defining your application specific logic State machines can be un loaded at run time in any component Real Time Communication Peer Components Component Figure 1 4 Orocos Control Component State Machines 4 Related Orocos Projects The Orocos project spawned a couple of largely independent software projects The documentation you are reading is about the Real Time Control Software
9. The Orocos User s Manual Open RObot COntrol Software 1 4 1 The Orocos User s Manual Open RObot COntrol Software 1 4 1 Copyright 2002 2003 2004 2005 2006 Herman Bruyninckx Peter Soetens Abstract This document gives an introduction to the Orocos http www orocos org Open RObot COntrol Software project It contains a high level overview of what Orocos aims to offer and the installa tion manual Orocos Version 1 4 1 Permission is granted to copy distribute and or modify this document under the terms of the GNU Free Documentation Li cense Version 1 1 or any later version published by the Free Software Foundation with no Invariant Sections with no Front Cover Texts and with no Back Cover Texts A copy of this license can be found at http www fsf org copyleft fdl html Table of Contents 1 Ortocos OVEIVIEW Gu a s piae pure pedet tesi opi e SS podus 1 l1 What s Orocos ioi needed tit pesa tps dee eee ee 1 2 Target audience ss u n E E R atas RS 2 3 Building Orocos Applications eene 3 3 1 Application Templates a 4 3 2 Control Components iia ind nad ca accadaseseaneeaes 5 A Related Or cosr Projects aaa asm dad 6 2a Installing DICO RT 8 1 Setting up your first Orocos source tree sese 8 IL Introduction mesi pee eite reir eni Hte teat aba 8 1 2 Installing on Debian Bich u as dae opt teenie odes 9 1 3 Basic Rea
10. commend using the pkg config tool to discover the compilation flags re quired to compile your application with the RTT or OCL You can skip the rest of this manual and go to Section 3 Getting Started with the Code for compiling components and applications with the RTT If you re using Ubuntu you need to source the packages and build them yourself this is not such a hard task Type from your HOME src directory cd src apt get source orocos rtt apt get build dep orocos rtt apt get install devscripts build essential fakeroot dpatch cd orocos rtt 1 4 0 dpkg buildpackage rfakeroot uc us cd for i in deb sudo dpkg i i done You can repeat the same process for orocos ocl 1 3 Basic Real Time Toolkit Installation The RTT uses the CMake http www cmake org build system for configuring and building the library 1 3 1 Orocos Build and Configuration Tools The tool you will need is cmake In Debian you can use the official Debian version using apt get install cmake If this does not work for you you can download cmake from the CMake homepage 1 3 2 Quick Installation Instructions Download the orocos rtt 1 4 1 src tar bz2 package from the Orocos webpage 10 1 3 3 Installing Orocos Extract it using tar xvjf orocos rtt 1 4 1 src tar bz2 Then proceed as in mkdir orocos rtt 1 4 1 build cd orocos rtt 1 4 1 build J configure with lt target gt prefix usr local
11. ers gt IPC support gt Semaphores Fifos Bits or Events and Mailboxes Add ons gt Comedi Support over LXRT if you intend to use the Orocos Comedi Drivers Core System gt Native RTAI schedulers gt LXRT scheduler kernel and user space tasks After configuring you must run make and make install in your RTAI directory make sudo make install After installation RTAI can be found in usr realtime You ll have to specify this directory in the RTAI INSTALL DIR option during ccmake Loading RTAI with LXRT LXRT is a all in one scheduler that works for kernel and userspace So if you use this you can still run kernel programs but have the ability to run realtime programs 14 2 3 3 Installing Orocos in userspace Orocos provides you the libraries to build these programs Make sure that the following RTAI kernel modules are loaded rtai sem rtai Ixrt rtai hal adeos depends on RTAI version For example by executing as root modprobe rtai Ixrt modprobe rtai sem Compiling Applications with LXRT Application which use LXRT as a target need special flags when being compiled and linked Especially Compiling I usr realtime include This is the RTAI headers installation directory e Linking L usr realtime lib llxrt for dynamic so linking OR add usr realtime liblxrt a for static a linking Important You might also need to add usr realtime lib to the etc ld so conf
12. g config orocos ocl gnulinux libs mycomonent so mycomponent cpp g mycomponent cpp CXXFLAGS LDFLAGS fPIC shared DOCL_DLL_EXPORT o mycomponent so Where your replace gnulinux with the target for which you wish to compile If you use parts of the OCL use the flags from orocos ocl gnulinux We strongly recommend reading the Deployment Component ht tp www orocos org ocl deployment manual for building and loading Orocos components into an application These flags must be extended with compile and link options for your particular ap plication 19 Installing Orocos Important The LDFLAGS option must be placed after the cpp or o files in the gcc command Y Note Make sure you have read Section 2 Detailed Configuration using CMake for your target if you application has compilation or link er rors for example when using LXRT 3 4 Header Files Overview Table 2 2 Header Files Header Summary rtt hpp The Real Time Toolkit directory con tains the headers which describe the public API rtt os h rtt os hpp Not intended for normal users The os headers describe a limited set of OS primitives like locking a mutex or creat ing a thread Read the OS manual care fully before using these headers they are mostly used internally by the RTT rtt dev hpp C Headers for accessing hardware in terfaces rtt corba hpp C Headers for CORBA support rtt scripti
13. is represented by three numbers separated by dots An even middle number indicates a stable version For example 1 1 4 Release 1 unstable 1 revision 4 e 1 2 1 Release 1 stable 2 revision 1 This numbering allows to develop and release two kinds of versions where the un stable version is mainly for testing new features and designs and the stable version is for users wanting to run a reliable system Dependencies on other Libraries Before you install Orocos verify that you have the following software installed on your platform Table 2 1 Build Requirements Program Library Minimum Version Description Boost C Libraries 0 32 0 0 33 0 or newer Boost org ht 8 Installing Orocos Program Library Minimum Version Description Recommended tp www boost org Ver sion 0 33 0 has a very effi cient time space lock free smart pointer imple mentation which is used by Orocos GNU gcc g Compilers 3 3 0 gcc gnu org ht tp gcc gnu org Orocos builds with the GCC 4 x series as well Xerces C Parser 2 Optional Xerces website ht tp xml apache org xerces c Versions 2 1 until 2 6 are known to work If not found an internal XML parser is used ACE amp TAO TAO 1 3 Optional ACE amp TAO website ht tp www cs wustl edu sc hmidt When you start your components in a net worked environment TAO can be used to set up com munication between com
14. l Time Toolkit Installation 10 1 4 Installing an Orocos Build eee 12 2 Detailed Configuration using CMake 13 2 1 Configuring the target Operating System 13 2 2 Setting Build Compiler Flags 13 2 3 Building for RTAI EXRT oia tet e ertet itas 14 2 4 Building for Xenomai version 2 2 0 or newer 15 2 5 Configuring for CORBA 16 3 Getting Started with the Code 18 JLA QUICK ACS Ue dei occisum o qe oia petu itu hasa 18 3 2 What about main eese eee ener nonne 18 3 3 Building components and applications 19 3 4 Header Files Overview o c et tard anced egestate 20 4 Cross Compiling Orocos Lt 21 iv List of Figures TT SOPOCOS DADEAEIGS sioe esae oleae dest Da Na aaa eee cane 1 1 7 Orocas Real Time IGOR IG oie hia eene uti uite atio te ai mcis 4 1 3 Orocos Control Component Interface eee 5 1 4 Orocos Control Component State Machines 6 List of Tables 24 Build Requirements asun ae o pee e aos Eu deni ie ue aru 8 2 2 Header Files vi List of Examples 2 1 A Makefile for an O
15. located on 6 Orocos Overview the Orocos org web page The other not real time projects are At KTH Stockholm several releases have been made for component based ro botic systems and the project has been renamed to Orca ht tp orca robotics sourceforge net Although not a project funded partner the FH Ulm maintains Free CORBA com munication patterns for modular robotics Orocos SmartSoft ht tp www rz fh ulm de cschlege orocos This documentation is targeted at industrial robotics and real time control Chapter 2 Installing Orocos This document explains how the Real Time Toolkit of Orocos ht tp www orocos org the Open RObot COntrol Software project must be installed and configured 1 Setting up your first Orocos source tree 1 1 Introduction 1 1 1 1 1 2 1 1 3 This sections explains the supported Orocos targets and the Orocos versioning scheme Supported platforms targets Orocos was designed with portability in mind Currently we support RTAI LXRT http www rtai org GNU Linux userspace Xenomai Xenomai org ht tp www xenomai org So you can first write your software as a normal Linux program using the framework for testing and debugging purposes in plain user space Linux and recompile later to another real time target The versioning scheme Orocos uses the even stable uneven unstable version numbering scheme just as the Linux kernel A particular version
16. n order to enable CORBA a valid installation of TAO must be detected on your system and you must turn the ENABLE CORBA option on using ccmake En abling CORBA does not modify the RTT library but builds and installs an addi tional library and headers Alternatively when you use the configure wrapper you can specify configure enable corba Embedded RTT flavour In order to run Orocos applications on embedded systems one can turn the OS_EMBEDDED option on Next press c again and additional options will be presented which allow you to select what part of the RTT is used By default the OS EMBEDDED option already disables some fat features One can also choose to build the RTT as a static library BUILD STATIC Alternatively when you use the configure wrapper you can specify configure embedded Build results The make command will have created a liborocos rtt lt target gt so library and if CORBA is enabled a liborocos rtt corba target so library The make docapi and make docpdf dochtml both in build commands build API documentation and PDF HTML documentation in the build doc directory Building Orocos for multiple targets When you want to build for another target create a new build lt target gt directory and simply re invoke configure with lt target gt from that build directory If this step fails it means that you have not everything installed which is needed for a basic Orocos build Most
17. nce these targets require Linux headers during the Orocos build To use the LibC Kernel headers in usr include linux specify usr Inspect the output to find any errors Y Note From Xenomai version 2 2 0 on Xenomai configuration does no longer require the with linux option 2 2 Setting Build Compiler Flags You can set the compiler flags using the CMAKE BUILD TYPE option You may edit this field to contain RTT default 13 Installing Orocos Release Debug e RelWithDebInfo 2 3 Building for RTAI LXRT 2 3 1 2 3 2 Read first the Getting Started section from this page ht tp people mech kuleuven be psoetens portingtolxrt html if you are not familiar with RTAI installation Orocos has been tested with RTAI 3 0 3 1 3 2 3 3 3 4 and 3 5 You can obtain it from the RTAI home page http www aero polimi it projects rtai Read The README files in the rtai directory for detailed build instructions as these de pend on the RTAI version RTAI settings RTAI comes with documentation for configuration and installation During make menuconfig make sure that you enable the following options in addition to op tions you feel you need for your application General Enable extended configuration mode Core System gt Native RTAI schedulers gt Scheduler options gt Number of LXRT slots 1000 e Machine gt Enable FPU support Core System Native RTAI schedul
18. ng hpp C Headers for real time scripting Do not include these directly as they are mainly for internal use rtt marsh hpp C Headers for XML configuration and converting data to text and vice versa rtt dlib hpp C Headers for the experimental Dis tribution Library which allows embed ded systems to use some RTT primitives over a network This directory does not contain such a library but only interface headers rtt impl hpp C Headers for internal use 20 Installing Orocos 4 Cross Compiling Orocos This section lists some points of attention when cross compiling Orocos Run plain cmake or ccmake with the following options CC cross gec CXX cross g LD cross ld cmake DCROSS COMPILE cross and substitute the cross prefix with your target tripplet for example with power pc linux gnu This works roughly when running on Linux stations but is not the official CMake approach For having native cross compilation support you must upgrade to CMake 2 6 0 not released yet of this writing or later and follow the instructions on the CMake Cross Compiling page http www cmake org Wiki CMake Cross Compiling 21
19. on Builders 3 Building Orocos Applications Orocos applications are composed of software components which form an applica tion specific network When using Orocos you can choose to use predefined com ponents contributed by the community or build your own component using the Orocos Real Time Toolkit This section introduces both ways of building applica tons Orocos Overview Control Components Build Applications Control Applications M Build Components Real Time Toolkit C Classes Figure 1 2 Orocos Real Time Toolkit 3 1 Application Templates An Application Template is a set of components that work well together For ex ample the application template for motion control contains components for path planning position control hardware access and data reporting The components are chosen as such that their interfaces are compatible An application template should be so simple that any Orocos user can pick one and modify it hence it is the first thing a new user will encounter An application tem plate should be explainable on one page with one figure explaining the architecture qj Note An application template has no relation to C templates 4 Orocos Overview 3 2 Control Components Applications are constructed using the Orocos Control Component A distribut able entity which has a control oriented interface Component Interface Parameters Alarms Alg
20. orithms Setpoints Data streaming Persistent Publish Complex Actions taking Buffered and configuration state changes configuration time unbuffered Figure 1 3 Orocos Control Component Interface A single component may be well capable of controlling a whole machine or is just a small part in a whole network of components for example an interpolator or kin ematic component The components are built with the Real Time Toolkit and op tionally make use of any other library like a vision or kinematics toolkit Most users will interface components through their XML properties or command meth od interface in order to configure their applications There are five distinct ways in which an Orocos component can be interfaced through its properties events methods commands and data flow ports Figure 1 3 Orocos Control Component Interface These are all optional interfaces The purpose and use of these interface types is documented in the Orocos Component Builder s Manual Each component documents its interface as well To get a grip on what these interfaces mean here are some fictitious component interfaces for a Ro bot Component Data Flow Ports Are a thread safe data transport mechanism to communicate buffered or un buffered data between components For example JointSet 5 Orocos Overview points EndEffectorFrame FeedForward Properties Are run time modifiable parameters stored in XM
21. program include lt rtt os main h gt int ORO_main int argc char argv Your code do not use exit use return to allow Orocos to cleanup system resources 18 Installing Orocos If you do not use this function it is possible that some OS dependent Orocos functionality will not work 3 3 Building components and applications You can quick start build components using the Orocos Component Template package which you can download from the OCL download page ht tp www orocos org ocl source which uses CMake If you do not wish to use CMake you can use the example below to write your own Makefiles Example 2 1 A Makefile for an Orocos Application or Component You can compile your program with a Makefile resembling this one OROPATH usr local all myprogram mycomponent so Build a purely RTT application for gnulinux Use the OCL settings below if you use the TaskBrowser or other OCL functionality CXXFLAGS PKG_CONFIG_PATH OROPATH lib pkgconfig pkg config orocos rtt gnulinux cflags LDFLAGS PKG_CONFIG_PATH OROPATH lib pkgconfig pkg config orocos rtt gnulinux libs myprogram myprogram cpp g myprogram cpp CXXFLAGS LDFLAGS o myprogram Building dynamic loadable components requires the OCL to be installed as well CXXFLAGS PKG_CONFIG_PATH OROPATH lib pkgconfig pkg config orocos ocl gnulinux cflags LDFLAGS PKG_CONFIG_PATH OROPATH lib pkgconfig pk
22. r because of the large scope of the Orocos project the supporting code the Framework gets a lot of attention The hope is of course that this work will pay of by facilitating the developments for the other Builders The RTT KDL and BFL are created by Framework builders 2 Component Builders Orocos Overview Components provide a service within an application Using the infrastructure of the framework a Component Builder describes the interface of a service and provides one or more implementations For example a Kinematics Component may be designed as such that it can serve different kinematic architectures Other examples are Components to hardware devices Components for dia gnostics safety or simulation The OCL is created by Component Builders 3 Application Builders These developers use the Orocos Framework and Components and integrate them into one particular application That means that they create a specific ap plication dependent architecture Components are connected and configured as such that they form an application 4 End Users These people use the products of the Application Builders to program and run their particular tasks End Users do not directly belong to the target audience of the Orocos project be cause Orocos concentrates on the common framework independent of any applica tion architecture Serving the needs of the End Users is left to commercial and non commercial Applicati
23. rocos Application or Component vii Chapter 1 Orocos Overview This document gives an application oriented overview of Orocos ht tp www orocos org the Open RObot COntrol Software project 1 What is Orocos Orocos is the acronym of the Open Robot Control Software ht tp www orocos org project The project s aim is to develop a general purpose free software and modular framework for robotand machine control The Orocos project supports 4 C libraries the Real Time Toolkit the Kinematics and Dy namics Library the Bayesian Filtering Library and the Orocos Component Library RealTime Toolkit Components for Control Kinematics Bayesian Dynamics Filtering Library Library Figure 1 1 Orocos Libraries The Orocos Real Time Toolkit RTT is not an application in itself but it provides the infrastructure and the functionalities to build robotics applications in C The emphasis is on real time on line interactive and component based applications The Orocos Components Library OCL provides some ready to use control components Both Component management and Components for control and hardware access are available The Orocos Kinematics and Dynamics Library KDL is a C library which al lows to calculate kinematic chains in real time Orocos Overview The Orocos Bayesian Filtering Library BFL provides an application independ ent framework for inference in Dynamic Bayesian Networks
24. th Xenomai Application which use Xenomai as a target need special flags when being compiled and linked Especially Compiling I usr xenomai include This is the Xenomai headers installation directory e Linking L usr xenomai lib Inative for dynamic so linking OR add usr xenomai libnative a for static a linking Important You might also need to add usr xenomai lib to the etc ld so conf file and rerun Idconfig such that libnative so can be found automatically 2 5 Configuring for CORBA In case your application benefits from remote access over a network the RTT can be used with The Ace Orb or TAO version prepared by OCI Object Computing Inc You can find the latest TAO version on OCIs TAO website ht tp www theaceorb com The RTT was tested with OCI s TAO 1 3 and 1 4 The OCI version is prefered above the versions provided by the DOC group on the Real time CORBA with TAO The ACE ORB website ht tp www cs wustl edu schmidt TAO html 16 Installing Orocos Y Note Orocos requires the ACE TAO and TAO orbsves libraries and header files to be installed on your workstation and that the ACE_ROOT and TAO_ROOT variables are set 2 5 1 TAO installation Optional 2 5 2 2 5 3 Y Note If your distribution does not provide the TAO libraries or you want to use the OCI version you need to build manually These instructions are for building on Linux See the ACE and TAO installation manuals for
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