The Orocos User`s Manual
Contents
1. RTAI settings RTAI comes with documentation for configuration and installation In the configur ation process 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 500 e Machine gt Enable FPU support Core System gt Native RTAI schedulers 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 make install Note In recent version of RTAI some of these options may have changed in location or name E Warning The patched Linux kernel and RTAI must be compiled with a GCC 3 x compiler and not with a GCC 4 x compiler Otherwise your system may become unbootable or unstable After installation RTAI can be found in usr realtime You ll have to specify during the Orocos configure step the alternative if you chose so 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 in userspace Oro2. o 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 runtime in any component Real Time Communication 4 Component Peer Components Figure 1 3 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 located on 6 Orocos Overview the Orocos org webpage 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 or
3. patched linux tree The latter targets require the presence of the with linux path to linux option since these targets require Linux headers during the Orocos build To use the LibC Kernel headers in usr include linux specify with linux usr Watch carefully the output to find any errors 2 2 General Build Compiler Flags You must set the compiler flags during the configure step For example configure CXXFLAGS g 00 CFLAGS g 00 with gnulinux if you want to enable debugging or change the optimisation flags For convenience the configure script can also be invoked with the enable debug option which installs the same flags as above 2 3 Building for RTAI LXRT 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 and 3 3 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 instructions First you need to patch your Linux kernel with the RTAI patch A patch per kernel version can be found in the 13 2 3 1 2 3 2 Installing Orocos rtai core arch 1386 patches directory You should apply the hall2 X Y Z patch or later for RTAI to a clean Linux X Y Z kernel We refer to the RTAI installation instructions for more details Next do make menuconfig
4. the orocos rtt pc file pkg config format it will automatically find the flags below Once you compile and link your application with Orocos and with the Corba func tionality 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 Compiling I path to ACE wrappers I path to ACE wrappers TAO This is the ACE build directory in case you use OCTs 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 Linking L path to ACE wrappers lib ITAO IACE ITAO IDL BE 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 i You also need to add path to ACE wrappers lib to the etc Id 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 You can issue a make check in the Orocos build directory To quickly test an Orocos application you can download the examples from the webpage T
5. The Orocos User s Manual Open RObot COntrol Software 1 0 4 The Orocos User s Manual Open RObot COntrol Software 1 0 4 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 0 4 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 Overvien asset 1 1 What s Or cos ioi needed tit pesa tps dee eee ee 1 2 Target audience na E E R A RS 2 3 Building Orocos Applications eene 3 3 1 Application Templates ied etre Ue pressione 4 3 2 Control Components 2 55 5 5 tete eSI iat served 5 A Related rss Projects rss 6 2 Installing OrotOS RO 8 1 Setting up your first Orocos RTT source tree rsnvnrnnrnvnrrrvnrvenvnrrnenen 8 Vel Introduction ae eet redet dece viv 8 1 2 Required Build Tools eee t aati Qi opens 11 1 3 Installing an Orocos Build eee 12 2 Contis ration DEALS ni
6. are created by Framework builders 2 Component Builders 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 2 Orocos Overview 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 Application 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 communi
7. ation which is used by Orocos Xerces C Parser 2 1 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 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 Installing Orocos Program Library Minimum Version Description the Orocos tests Xenomai 2 0 0 2 2 Recommended Xenomai org ht tp www xenomai org Extends the Linux kernel with a real time scheduler RTAI 3 x RTALorg ht tp www rtai org Extends the Linux kernel with a real time scheduler You ll require the following software to build the documentation However all doc umentation can be downloaded as a single archive from the RTT website ht tp www orocos org rtt Table 2 3 Doc Requirements Optional Program Library Minimum Version Description xsltproc 1 1 15 Install an XML processor ht tp www sagehill net docb ookxsl In stallingAProcessor html docbook xml 4 4 Docbook website ht tp www docbook org The manuals are written in the XML format defined by the Docbook standard SUN JIMI 1 0 Docbook website ht tp www docbook org Required to show PNG images in the generated PDF files Doxygen 1 3 Doxygen website ht tp www doxygen org Required to generate
8. ca 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 targetted 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 RTT source tree 1 1 Introduction This sections explains the supported Orocos targets and the Orocos versioning scheme 1 1 1 Supported platforms targets The Orocos Real Time Toolkit was designed with portability in mind Currently we support RTAI LXRT http www rtai org GNU Linux userspace Xenomai Xenomai org http www xenomai org So you can first write your software as a normal program using the framework for testing and debugging purposes in plain userspace Linux and recompile later to another target 1 1 2 The versioning scheme Orocos uses the well known even stable uneven unstable version numbering scheme just as the Linux kernel and many other projects A particular version 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 number
9. conf file and rerun Idconfig such that libnative so can be found 2 5 Configuring for CORBA Orocos is recommended to be used with The Ace Orb or TAO version prepared by OCI Object Computing Inc You can find the latest TAO version on OCI s TAO website http www theaceorb com Orocos was tested with OCI s TAO 1 3 and 1 4 The OCI version is more stable than 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 P Note Orocos requires the ACE TAO and TAO orbsvcs 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 17 2 5 2 2 5 3 Installing Orocos 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 building on your platform You need to make an ACE TAO build on your workstation Download the package here OCI 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 When using GNU Linux continue with In s ace config linux h ace config h In s include makeinclude platform linux GNU include makeinclude platform macros GNU Finally type make cd TAO make cd
10. cos provides you the libraries to build these programs Make sure 14 2 3 3 2 3 4 Installing Orocos that the following RTAI kernel modules are loaded rtai sem e rtai Ixrt rtai hal adeos not present in all RTAI versions For example by executing as root modprobe rtai Ixrt modprobe rtai sem For a more detailed description of what LXRT really is you can read the LXRT HOWTO here http people mech kuleuven be psoetens Ixrt portingtolxrt html Configuring Orocos for LXRT In your build directory run configure with Ixrt usr realtime with linux patched linux tree The LXRT target requires the presence of the with linux path to linux option since these targets require Linux headers during the Orocos build To use the LibC Kernel headers in usr include linux specify with linux usr Compiling Applications with LXRT 7 Note If your application uses the orocos rtt pc file pkg config format it will automatically find the flags below 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 D Important i You might also need to add usr realtime lib to the etc ld so conf file and rerun Idconfig such that liblxrt so can be found T
11. e LDFLAGS option must be placed after the cpp or o files in the gcc command Note Make sure you have read Section 2 Configuration Details for your target if you application has compilation or link errors for example when using LXRT 20 Installing Orocos 3 3 Header Files Overview Table 2 4 Header Files Header Summary rtt hpp The Real Time Toolkit directory con tains all the headers an Orocos user re quires for building components 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 in the corelib s implementation rtt dev h pp C Headers of device interfaces rtt corba hpp C Headers for Corba support 4 Expert configuration and embed ded systems For embedded systems the make rtt embedded target should be built This re moves the scripting files from the build It is possible to shrink even more code size by using the make config ure packages command and disable exceptions and enable embedded operating system Next proceed with make build to build the adapted configuration E Warning Invoking make rtt embedded removes any configuration changes you have made Use make build or make cross to build a custom con figured configuration Use make new packages to
12. ex tract the API documenta tion Dia 0 91 Dia website ht tp www gnome org proje cts dia Required to gen erate images inkscape 0 42 Inkscape website ht tp www inkscape org Required to generate im ages 10 Installing Orocos These packages are provided by most Linux distributions Take also a look on the Orocos org download page for the latest information 1 2 Required Build Tools 1 2 1 1 2 2 The Real Time Toolkit uses a less common system for distribution and configura tion It is taken from the eCos operating system but apart from the name has noth ing to do with it when used with Orocos Build and Configuration Tools The tool you will need is ecosconfig In Debian you can use the official Debian version using apt get install ecosconfig If this does not work for you Orocos will use the ready to use tools in Orocos tools bin subdirectory 1386 only The build system will try to locate the tools in that directory and use them if present If the build tools cause problems consult the eCos Configuration Tool Version 2 http www ecoscentric com devzone configtool shtml webpage for source and binary downloads a Note The optional configtool is a GUI in which users can configure some build options It uses the libwxgtk2 4 library The required ecosconfig is a commandline program used by the make system Quick Installation Instructions Download the orocos
13. hey may require that additional libraries are installed like the Orocos Components Library 19 Installing Orocos 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 Building a sample application with Orocos is quite simple but 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 lt rtt os main h gt which contains your 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 If you link with the liborocos rtt a library this function will be called after the run time environment is set up To put in other words the Orocos library already con tains a main function which will call the user defined ORO_main function Example 2 1 A Makefile for an Orocos Application You can then simply compile your program with a Makefile resembling this one OROPATH usr local orocos CXXFLAGS PKG CONFIG PATH OROPATH lib pkgconfig pkg config orocos rtt cflags LDFLAGS PKG CONFIG PATH OROPATH lib pkgconfig pkg config orocos rtt libs all myprogram cpp g myprogram cpp CXXFLAGS LDFLAGS o myprogram The flags must be extended with compile and link options for your particular con figuration D Important Th
14. his option is not needed if you configured RTAI with LXRT static inlining 15 Installing Orocos 2 4 Building for Xenomai 2 4 1 2 4 2 2 4 3 Xenomai provides a real time scheduler for Linux applications It is similar to and once developed with RTAI LXRT but the project is now independent of RTAI See the Xenomai home page http www xenomai org Xenomai requires a patch one needs to apply upon the Linux kernel See the Xenomai installation manual When applied one needs to enable the ADEOS or IPIPE option during Linux ker nel configuration E Warning The patched Linux kernel and Xenomai must be compiled with a GCC 3 x compiler and not with a GCC 4 x compiler Otherwise your system may become unbootable or unstable When the Linux kernel is built do in the Xenomai directory make menuconfig make make install Consult the README files in the top Xenomai directory for further help with installation Xenomai settings The default settings for Xenomai are fine for Orocos The only option that requires to be set is the location of the patched Linux kernel After configuring you can run make and make install in your Xenomai directory After installation Xenomai can be found in usr realtime or usr xenomai Orocos looks in the first directory for Xenomai You ll have to specify during the Orocos configure step the alternative if you chose so Loading Xenomai 2 0 Orocos uses the native Xenomai API to addres
15. ing 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 people wanting to run a reliable system 1 1 3 Dependencies on other Libraries Before you install the RTT verify that you have the following software installed on your platform Table 2 1 Build System Requirements Program Library Installing Orocos Minimum Version Description TCL 8 0 tcl tk http www tcl tk Python 2 2 Python org ht tp www python org GNU gcc g Compilers 3 3 0 3 4 0 gcc gnu org ht tp gcc gnu org Orocos builds with the GCC 4 x series as well For LXRT and Xenomai compile these programs and their Linux kernel with GCC 3 x compilers and not with GCC 4 x pkg config 1 0 Orocos uses this program to find out how to find other libraries on the sys tem ecosconfig 2 0 ecoscentric ht tp www ecoscentric com devzone configtool shtml For 1386 and x86 64 AMD64 platforms this executable is packaged with Orocos For other platforms see the link The configtool sister pro gram is optional Table 2 2 Run Requirements Program Library Minimum Version Description Boost C Libraries 0 32 0 0 33 0 Recommen Boost org ht ded tp www boost org Ver sion 0 33 0 has a very effi cient time space lock free smart pointer imple ment
16. 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 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 online 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 The Orocos Bayesian Filtering Library BFL provides an application independ ent framework for inference in Dynamic Bayesian Networks 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 Overview Orocos is a free software project hence its code and documentation are re
17. leased under Free Software licenses Your feedback and suggestions are greatly appreciated Please use the project s mailinglist 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 Builders connections 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 However 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
18. orbsvcs make This finishes your TAO build Configuring Orocos for TAO Orocos will first try to detect your location of ACE and TAO using the ACE ROOT and TAO ROOT environment variables Alternatively you may add a configure flag to tell Orocos where to find the ACE wrappers directory configure with ace path to ACE wrappers With tao path to ACE wrappers TAO Orocos then assumes that the ACE headers are then found in path to ACE wrappers ace the TAO headers are found in path to ACE_wrappers TAO tao the libraries are found in path to ACE_wrappers lib and the IDL compiler in path to ACE_wrappers bin If neither ACE_ROOT and TAO_ROOT is set and with ace and with tao is not used Orocos is not built using CORBA The with flags override the environment variables Note Debian based systems may use the flags with ace usr share ace with tao usr share ace TAO Fedora based systems may use the flags with ace with tao IDL File Compilation When Orocos detects the presence of TAO it immediately generates the client and server files for all the Orocos IDL files during the configure step Thus in order to re generate these files the configure script needs to be called again When you do not make use of Orocos Corba functionality these files are not compiled nor used in any way by the Orocos build 18 Installing Orocos 2 5 4 Application Development with TAO Note If your application uses
19. rtt 1 0 4 src tar bz2 package from the Orocos webpage Extract it using tar xvjf orocos rtt 1 0 4 src tar bz2 Then proceed as in mkdir orocos rtt 1 0 4 build cd orocos rtt 1 0 4 build J configure with lt target gt make rtt 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 11 Installing Orocos Note The configure script must be rerun after you installed missing librar ies like Boost 1 2 3 Building The Real Time Toolkit RTT 1 2 4 1 2 5 The RTT can be compiled in three flavours make rtt make rtt corba make rtt embedded builds the standard embedded or corba version The embedded version is stand ard without scripting the corba version is standard with Corba interfaces Note LER i Each one of these targets resets your configuration and starts building from scratch Use plain make to continue building the current target Build results The make command will have made a directory packages where the building takes place The results of the build are in the packages install directory You will find the header files and a library called liborocos rtt a These files allow you to build applications with Orocos The make docs and make doxy dist both in build commands build manuals and API documentation in the build doc directory Using Orocos concurren
20. s the real time scheduler The Xenomai kernel modules can be found in usr realtime modules Thus only the fol lowing 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 Loading Xenomai 2 1 and later For these versions it is recommended that Xenomai is built in the kernel As such no kernel modules need to be loaded 16 Installing Orocos 2 4 4 Configuring Orocos for Xenomai In your build directory run configure with xenomai usr realtime with linux patched linux tree The Xenomai target requires the presence of the with linux path to linux option since these targets require Linux headers during the Orocos build To use the LibC Kernel headers in usr include linux specify with linux usr 2 4 5 Compiling Applications with Xenomai Note If your application uses the orocos rtt pc file pkg config format it will automatically find the flags below Application which use Xenomai as a target need special flags when being compiled and linked Especially Compiling I usr realtime include This is the Xenomai headers installation directory Linking L usr realtime lib Inative for dynamic so linking OR add usr realtime libnative a for static a linking D Important You might also need to add usr realtime lib to the etc Id so
21. start with a clean configuration See the Developer s Manual orocos devel manual html for using the configtool program which allows to select what gets built and which allows to tune build para meters for embedded systems 5 Cross Compiling Orocos This section lists some points of attention when cross compiling Orocos 21 Installing Orocos 5 1 Configuration The following configure command is an example for supported cross compilation using a Xenomai build cd build configure build config config guess host powerpc 405 linux gnu V with xenomai target fs usr xenomai With linux target fs linuxppc 2 4 devel CXXFLAGS I target fs usr include V CFLAGS I target fs usr include V CC crosstool bin powerpc 405 linux gnu gcc V CXX crosstool bin powerpc 405 linux gnu g when this finished succesfully the make command can be issued make and a cross compilation build will run Additionally you can Start the configtool with make configure packages Use the configtool s Global Build Options to set your compiler and include paths In case you wish to specify the compiler at make time use the following make tar get make cross CC CXX 22
22. te sive ccd onc batis ete ioo a 13 2 1 Configuring the RTT 425 ie tte ene See ie ean ud 13 2 2 General Build Compiler Flags eese 13 2 3 Building for RTAL LXRT ee roteescsie etre tenter dens 13 2 4 Building for Xenomai 22 eerte dca ee ei deed 16 2 5 Configuring for CORBA sues aee tae eene 17 3 Getting Started with the Code cette e desit dates tiidas 19 So A QUICK Tesi een adotta bp b oe itudin t duse tt Dads 19 3 2 What about main 5 aie sisse dae parca deine deed ota Cordero Reds 20 3 3 Header Files Overview uite tide esa deliets 2l 4 Expert configuration and embedded systems ss 21 5 Cross Compiling OrOGO0S sperre atenerne 21 DT CODTEPUEaOT ooo o ee eee ubi em ats 21 iv List of Figures T 1 Orocos Real Time Toolkt 22er se ited duka 4 1 2 Orocos Control Component Interface eee 5 1 3 Orocos Control Component State Machines ees 6 List of Tables 2 1 Build System Requirements 5 opaque bees kaien 8 22 Ri Requirements ape 9 2 3 Doc Requirements Optional eese 10 24 Header biles ius ae re ovis tice e aS vist Rc A ITE P Id QE 2l vi List of Examples 2 1 A Makefile for an Orocos Application 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
23. tly for multiple targets When you want to build for another target or operating system create a new build target 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 users don t have the Boost library libboost dev or lib boost devel installed Please install this package from the binary or source package repository 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 succeed too Please use the mailinglist at orocos dev Q lists mech kuleuven be gt for support questions 1 3 Installing an Orocos Build Orocos can optionally but recommended be installed on your system with 12 Installing Orocos make install The default directory is usr local orocos 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 packages install lib include directory 2 Configuration Details 2 1 Configuring the RTT In your build directory run configure or configure with gnulinux to select the os gnulinux target Alternative targets are e with lxrt usr realtime with linux patched linux tree e with xenomai usr realtime with linux
24. trolling 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 2 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 fictuous component interfaces for a Ro bot Component Data Flow Ports Are a thread safe data transport mechanism to communicate Orocos Overview buffered or un buffered data between components For example JointSet points EndEffectorFrame FeedForward Properties Are run time modifyable parameters stored in XML files For ex ample Kinematic Algorithm Control Parameters Homing Position Tool Type ye Methods Are callable by other components to calculate a result immediately just like a C function For example getTrackingError openGripper
25. ty or build your own component using the Orocos Real Time Toolkit This section introduces both ways of building applica tions Orocos Overview Control Components Build Applications Control Applications Build Components Real Time Toolkit C Classes Figure 1 1 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 choosen 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 ce 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 Algorithms Setpoints Data streaming Persistent Publish Complex Actions taking Buffered and configuration state changes configuration time unbuffered Figure 1 2 Orocos Control Component Interface A single component may be well capable of con
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