The Orocos User's Manual
Contents
1. 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 example 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 template should be explainable on one page with one figure explaining the architecture Note An application template has no relation to C templates Orocos Overview 3 2 Control Components Applications are constructed using the Orocos Control Component A distributable 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 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 kinematic component The components are built with the Real Time Toolkit and optionally make use of any other library like a vision or kinema2. Time Toolkit the Kinematics and Dynamics 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 e 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 e The Orocos Components Library OCL provides some ready to use control components Both Component management and Components for control and hardware access are available e The Orocos Kinematics and Dynamics Library KDL is a C library which allows to calculate kinematic chains in real time e The Orocos Bayesian Filtering Library BFL provides an application independent framework for inference in Dynamic Bayesian Networks i e recursive information 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 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 con
3. compilation or link errors for example when using LXRT 20 Installing Orocos 3 4 Header Files Overview Table 2 2 Header Files Header Summary rtt hpp The Real Time Toolkit directory contains 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 creating a thread Read the OS manual carefully before using these headers they are mostly used internally by the RTT rtt dev hpp C Headers for accessing hardware interfaces rtt corba hpp C Headers for CORBA support rtt scripting 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 Distribution Library which allows embedded systems to use some RTT primitives over a network This directory does not contain such a library but only interface headers rtt 1mpl bpp C Headers for internal use 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 wi
4. linked Especially e 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 A 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 TAO or OMNIORB 4 The RTT was tested with TAO 1 3 x 1 4 x 1 5x and 1 6 x and OMNIORB 4 1 x There are two major TAO development lines One line is prepared by OCI Object Computing Inc http www ociweb com and the other by the DOC group http www dre vanderbilt edu You can find the latest OCI TAO version on OCI s TAO website http www theaceorb com The DOC group s TAO version can be found on the Real time CORBA with TAO The ACE ORB website http www cs wustl edu schmidt TAO html Debian and Ubuntu users use the latter version when they install from deb packages If you need commercial support for any TAO release or seek expert advice on which TAO version or development line to use consult the commercial support website http www cs wustl edu schmidt commercial support html 2 5 1 TAO installation Optional N Note If your distribution does not provide the TAO libraries or you want
5. 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 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 You need to make an ACE TAO build on your workstation Download the package here OCI Download http www theaceorb com downloads 1 4a 17 2 5 2 2 5 3 Installing Orocos index html Unpack 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 include makeinclude platform macros GNU Finally type make cd TAO make cd orbsves make This finishes your TAO build Configuring the RTT for TAO or OMNIORB Orocos RTT defaults to TAO If you want to use the OMNIORB implementation run from your build directory cmake DENABLE_CORBA ON DCORBA_IMPLEMENTATION OMNIORB To specify TAO explicitly or change back use cmake DENABLE_CORBA ON DCORBA_IMPLEMENTATION TAO The RTT 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 defaults to TAO configure
6. 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 lt target gt 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 12 Installing Orocos 1 3 6 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 users don t have the Boost library libboost dev or libboost devel installed 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 Use the mailinglist at lt 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 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 buil
7. The Orocos User s Manual Open RObot COntrol Software 1 8 5 The Orocos User s Manual Open RObot COntrol Software 1 8 5 Copyright O 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 installation manual Orocos Version 1 8 5 Permission is granted to copy distribute and or modify this document under the terms of the GNU Free Documentation License 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 Ve OROCOS INCL a A A A a 1 Lo What IS OTOCOS ii 1 Ze Tatret MCT OS ote ihe ds a 2 3 Building Orocos Appuc ans 3 JA Application Template Se on i hie ERA 4 32 Control Components eea e so nd ce 5 4 Related Orocos Projects in ve ea E E EEE R EEE 6 2 stalle CROCOS ON 8 1 Setting up your Orocos build environment sssseseseeeesserereresserersrrersessre 8 11 Introducion oreeson nn n eons A R aide 8 1 2 Installing on Debian Etch x86 only 9 1 3 Basic Real Time Toolkit Installation ooooocoonnncccnnncccnoncnonanccinnnanos 10 1 4 Installing an Orocos Bud A eats 13 2 Detailed Configuration using CMa
8. 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 ib 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 ib pkgconfig pkg 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 http 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 application Important The LDFLAGS option must be placed after the cpp or o files in the gcc command N Note Make sure you have read Section 2 Detailed Configuration using CMake for your target if you application has
9. at you have the following software installed on your platform Installing Orocos Table 2 1 Build Requirements Program Library Minimum Version Boost C Libraries 0 32 0 0 33 0 or newer Recommended Description Boost org http www boost org Version 0 33 0 has a very efficient time space lock free smart pointer implementation which is used by Orocos GNU gcc g Compilers 3 3 0 gcc gnu org http gcc gnu org Orocos builds with the GCC 4 x series as well Xerces C Parser 2 1 Optional Xerces website http 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 http www cs wustl edu schmidt When you start your components in a networked environment TAO can be used to set up communication between components CppUnit Library 1 9 6 Optional CppUnit website http cppunit sourceforge net cgi bin moin cgi Only needed if you want to run the Orocos tests All these packages are provided by most Linux distributions In Mac OS X you can install them easily using fink http www finkproject org or macports http www macports org 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 x86 only The Orocos Rea
10. configured RTAI with LXRT static inlining 2 4 Building for Xenomai version 2 2 0 or newer 2 4 1 N 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 gt Xenomai and Nucleus Enable the Native skin Semaphores Mutexes and Memory Heap Finally enable the Posix skin as well 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 option 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 following kernel modules need to be loaded e xeno_hal ko e xeno_nucleus ko e xeno_native ko in that order For example by executing as root insmod xeno_hal ko insmod xeno_nucleus ko insmod xeno_native ko 16 Installing Orocos 2 4 2 Compiling Applications with Xenomai Application which use Xenomai as a target need special flags when being compiled and
11. d s result in the build src directory 2 Detailed Configuration using CMake If you have some of the orocos dependencies installed in non standard locations you have to specify this using cmake variables before running the cmake configuration Specify header locations using the CMAKE_INCLUDE_PATH variable e g using bash and fink in Mac OS X the boost library headers are installed in sw include so you would specify export CMAKE_INCLUDE_PATH sw include For libraries in none default locations use the CMAKE LIBRARY PATH variable For more information see cmake useful variables http www cmake org Wiki CMake_Useful_Variables Environment_Variables link In order to start cmake configuration in your build directory run cemake 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 library to be built 13 Installing Orocos 2 1 Configuring the target Operating System Move to the OROCOS_TARGET press enter and type on of the following supported targets all in lowercase e gnulinux e macosx e xenomai e Ixrt The xenomai and lxrt targets require the presence of the LINUX_SOURCE_DIR option since these targets require Linux headers during the Orocos build To use the LibC Kernel headers in usr include linux sp
12. dd ons gt Comedi Support over LXRT if you intend to use the Orocos Comedi Drivers e 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 RTAL 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 in userspace Orocos provides you the libraries to build these programs Make sure that the following RTAI kernel modules are loaded e rtai_sem e rtai_lxrt e rtai_hal e adeos depends on RTAI version For example by executing as root modprobe rtai_lxrt modprobe rtai_sem Compiling Applications with LXRT Application which use LXRT as a target need special flags when being compiled and linked Especially 15 Installing Orocos e 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 A Important 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 This option is not needed if you
13. e In order to configure the RTT in detail you need to invoke the ccmake command cd orocos rtt 1 8 5 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 RTT with CORBA plugin In 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 Enabling CORBA does not modify the RTT library but builds and installs an additional library and headers Alternatively when you use the configure wrapper you can specify configure enable corba Embedded RTT flavour 1 3 5 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 9 Warning The Embedded flavour is not compatible with the Orocos Component Library OCL and should only be enabled for specific setups and only by users that understand the consequences of this flag Alternatively when
14. e which contains 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 cmake DENABLE TESTS ON 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 1t 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 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 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 http 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 19 Installing Orocos 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
15. ecify usr Inspect the output to find any errors 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 e RTT default e Release e Debug e RelWithDebInfo 2 3 Building for RTAI LXRT Read first the Getting Started section from this page http 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 3 5 and 3 6 The last version RTAI 3 6 is recommended for RTAI users You can obtain it from the RTAI home page http www rtai org Read The README files in the rtai directory for detailed build instructions as these depend on the RTAI version 14 Installing Orocos 2 3 1 RTAI settings 2 3 2 2 3 3 RTAI comes with documentation for configuration and installation During make menuconfig make sure that you enable the following options in addition to options you feel you need for your application General gt Enable extended configuration mode e Core System gt Native RTAI schedulers gt Scheduler options gt Number of LXRT slots 1000 e Machine gt Enable FPU support e Core System gt Native RTAI schedulers gt IPC support gt Semaphores Fifos Bits or Events and Mailboxes e A
16. 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 option 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 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 i Important You also need to add path to ACE_wrappers lib to the etc ld so conf file and rerun ldconfig such that these libraries can be found Or you can before you start your application type 18 Installing Orocos 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 sourc
17. entations 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 diagnostics 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 application 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 because Orocos concentrates on the common framework independent of any application 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 application specific network When using Orocos you can choose to use predefined components contributed by the community or build your own component using the Orocos Real Time Toolkit This section introduces both ways of building applications Orocos Overview Control Components Build Applications Control Applications E Build Components
18. ke 0 0 eee eeseeeeceeeeecseeceseeeseeeenees 13 2 1 Configuring the target Operating System ccococccinocccononcnnnnnccnonncn n 14 2 2 Setting Build Compiler Flags aid 14 2 3 B ldins RAR e R ern TO 14 2 4 Building for Xenomai version 2 2 0 or newer 16 Dee C nfis rns for CORBA a as 17 de Getting Started with th Coda 19 I ASK A O 19 3 2 What about main Fiesso a a a N N a 19 3 3 Building components and applications oooocoooccccoocccnoncncnoncnonananonno 19 3 4 Header Files Overview sii E aie 21 ALTOS Compiino CMGCOS aa a a a e de 21 iii List of Figures Tal Otocos LID ai DA A A AA 1 E Orocos Real Time Toolkit sda a a a aaa Gad 4 1 3 Orocos Control Component Interface q gpa is DA Ss ea Bat cross 5 1 4 Orocos Control Component State Machines 6 iv List of Tables 2 1 Build Requirements 2 2 Header Files List of Examples 2 1 A Makefile for an Orocos Application or Component vi Chapter 1 Orocos Overview This document gives an application oriented overview of Orocos http www orocos org the Open RObot COntrol Software project 1 What is Orocos Orocos is the acronym of the Open Robot Control Software http 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
19. l 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 Copy paste the following commands and enter your password when asked only works in Ubuntu Feisty or later and Debian Etch or later Installing Orocos weet q O http www orocos org keys psoetens gpg sudo apt key add sudo wget q http www fmtc be debian 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 N Note If you are using an older Debian Ubuntu version just add the line deb src http www fmtc be debian etch main to your etc apt sources list file and issue sudo apt get update Next for Debian Etch type sudo apt get update sudo apt get install liborocos rtt corba gnulinux1 8 dev You can install Orocos for additional targets or versions by replacing gnulinux1 8 by another target name or version All target libraries can be installed at the same time the dev header files only for a single target and version at a time For your application development you ll most likely use the Orocos Component library as well sudo apt get install orocos ocl gnulinux1 8 dev orocos ocl gnulinux1 8 bin Again you may install additional targets and or versions We recommend using the pkg config tool to discover the compilatio
20. n flags required 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 or older Debian versions you need to source the packages and build them yourself this is not such a hard task First make sure you added the deb src line as noted above Next type from your SHOME src directory cd src sudo apt get update apt get source orocos rtt sudo apt get build dep orocos rtt sudo apt get install devscripts build essential fakeroot dpatch cd orocos rtt 1 4 0 dpkg buildpackage rfakeroot uc us cd for i in deb do 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 10 Installing Orocos 1 3 1 Orocos Build and Configuration Tools 1 3 2 1 3 3 1 3 4 The tool you will need is cmake Most linux distros have a cmake package and so do fink macports in OS X 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 Download and extract the RTT packages Download the orocos rtt 1 8 5 src tar bz2 package from the Orocos webpage Extract it using tar xvjf orocos rt
21. ot 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 e 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 located on the Orocos org web page The other not real time projects are e At KTH Stockholm several releases have been made for component based robotic systems and the project has been renamed to Orca http orca robotics sourceforge net Orocos Overview e Although not a project funded partner the FH Ulm maintains Free CORBA communication patterns for modular robotics Orocos SmartSoft http www tz fh ulm de cschlege orocos This documentation is targeted at industrial robotics and real time control Cha
22. pter 2 Installing Orocos This document explains how the Real Time Toolkit of Orocos http www orocos org the Open RObot COntrol Software project must be installed and configured 1 Setting up your Orocos build environment 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 http www xenomai org and Mac OS X apple com http www apple com macosx So you can first write your software as a normal Linux Mac OS X program using the framework for testing and debugging purposes in plain userspace Linux Mac OS X and recompile later to a real time target The versioning scheme Orocos uses the even stable uneven unstable version numbering scheme just as the Linux kernel A particular version is represented by three numbers separated by dots An even middle number indicates a stable version For example e 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 unstable 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 th
23. t 1 8 5 src tar bz2 The next section provides quick installation instructions 1f you want to install the RTT on GNU Linux Please check out section FIXME for installation on other OSes and or if you want to change the default configuration settings Quick Installation Instructions for GNU Linux mkdir orocos rtt 1 8 5 build cd orocos rtt 1 8 5 build configure with lt target gt prefix usr local with linux usr src linux make make install Where e lt target gt is one of listed in configure help currently gnulinux Ixrt or xenomai When none is specified gnulinux is used e 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 N 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 your target For embedded targets the large scripting infrastructure and use of exceptions can be left out When CORBA 11 Installing Orocos is available an additional library is built which allows components to communicate over a network Also when building for another OS than GNU Linux you will have to build the RTT using cmak
24. th powerpc 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 or later and follow the instructions on the CMake Cross Compiling page http www cmake org Wiki CMake_Cross_Compiling 21
25. tics toolkit Most users will interface components through their XML properties or command method 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 Robot Component e Data Flow Ports Are a thread safe data transport mechanism to communicate buffered or un buffered data between components For example JointSetpoints EndEffectorFrame FeedForward Orocos Overview e Properties Are run time modifiable parameters stored in XML files For example Kinematic Algorithm Control Parameters Homing Position Tool Type e Methods Are callable by other components to calculate a result immediately just like a C function For example getTrackingError openGripper writeData filename isMoving e 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 n
26. trol 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 robotics 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 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 implem
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