RTT 2.x

Using XML substitution to manage complex deployments


Problem: You deploy multiple configurations of your system, perhaps choosing between a real and simulated robot, some real and simulated device, etc. You want to parameterize the deployments to reduce the number of files you have to write for the varying configuration combinations

Solution: Use the XML ENTITY element.


  • Works with Xerces only (v2 tested, v3 should also support this). Will not work with the default TinyXML processor.


Tested on v1.x trunk on Mac OS X Snow Leopard.

Taskbrowser with readline on Windows

In order to have readline tab-completion in the taskbrowser, you'll need OCL 1.12.0 or 2.1.0 or later. Click below to read the rest of this post.

Orocos Toolchain v2.0.2 Released

This is the second bug-fix release of the 2.0 release cycle, which fixes these reported issues:

  • typegen: fix missing headers in generated mqueue files
  • corba transport: several fixes when calling remote operations
  • taskcontext: fixed crashes during cleanup and addEventPort
  • mingw32: fix build issues
  • win32: many fixes and install by default in "Program Files/orocos"
  • deployment: smarter loading of components and plugins and much better error reporting.
  • taskbrowser: also list properties and ports in services

Which are reflected in about 50 patches since v2.0.1. Click below to read the rest of this post.

[Announce] First development release of orocos_toolchain_ros: v0.1.0

Hi orocos-dev, orocos-users, ros-users,

A first version of our Orocos/ROS integration is ready in the form of the
orocos_toolchain_ros stack. Click below to read the rest of this post.

The 1st RTT Developers Workshop

Main SponsorMain Sponsor
Place: BARCELONA PAL Robotics offices

Calle Pujades 77-79, 4th floor 4ª 08005 Barcelona, Spain.

See also PAL Robotics

Date: Mo 19th of July - Fr 23 July
1st RTT Developers Workshop

Compiling on Windows with Visual Studio

This page summarizes how to compile RTT with Microsoft Visual Studio, using the native win32 api. RTT supports Windows out of the box from RTT 1.10.0 and 2.3.0 on. OCL is supported from 1.12.0 and 2.3.0 on.

This tutorial assumes you extracted the Orocos sources and all its dependencies in c:\orocos

For new users, RTT/OCL v2.3.x or later is recommended, included in the Orocos Toolchain v2.3.x.


We only support Visual Studio 2008 and 2005. Support for 2010 is on its way. Click below to read the rest of this post.

RTT on MS Windows

This page collects all the documentation users collected for building and using RTT on Windows. Note that Native Windows support is available from RTT 1.10.0 on, and that you might no longer need some of the proposed workarounds (such as using mingw or cygwin).

The recommended way of compiling the RTT on Windows is by using the Compiling on Windows with Visual Studio instructions.

Setting up Ubuntu 10.10, Eclipse and Orocos

Ubuntu or Debian Packages

You can find Ubuntu packages of the Orocos Toolchain in the ROS package repositories. Look for the package ros-<releasename>-orocos-toolchain-ros, which installs the orocos_toolchain_ros version.

There are also build instructions for building some of these packages manually here: How to build Debian packages

The rest of this page mixes installing Java and building Orocos toolchain sources. Click below to read the rest of this post.


For general installation instructions specific to each software version, see the top level wiki page for each project (eg. RTT, KDL, etc) and look for Installation in the left toolbar.

See below for specific additional instructions.

Installing from binaries / package managers

Installing via Macports on Mac OS X

How to build Debian packages

Installing from source

To install from source on *NIX systems such as Linux and Mac OS X, see the installation page specific to your software version (e.g. Click below to read the rest of this post.