Open Robot Control Software

This website is a home for portable C++ libraries for advanced machine and robot control.
Click on one of the topics to learn more about these projects.

Kinematics & Dynamics Library Bayesian Filtering Library Orocos Toolchain Orocos

Orocos Toolchain v2.0.1 Released

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

  • Version mismatch between OCL and RTT
  • Sequences were wrongly generated by typegen (make_array bug).
  • TAO cmake detection was bailing out in typekits.
  • MQueue transport could not handle c-style sequences.
  • stream outbound connections would use only the first channel element
  • xerces depdom dependency has been removed, but Xerces 3.0 issues might remain in certain setups. Click below to read the rest of this post.

Orocos Toolchain 2.0.0 Released

The Orocos developers are proud to announce their first release
of the next-generation Orocos Toolchain for real-time and distributed
robotics. We wish to express our gratitude to everyone contributing
to this release which made it effectively the best real-time and
cross-platform robotics software framework in the world. We see
this as a starting point to build great applications for all our different
kinds of robots and machines.

1st RTT developer's workshop half way

1st RTT Developer's Meeting Picture1st RTT Developer's Meeting PictureThe 1st RTT Developers Workshop is just halfway and already delivered some promising results, including a release date for RTT 2.0.0.

Although the improvements in API usability and simplicity of concepts plays a great role in this release, the immediate advantage users will feel is the availability of tools to assist during development. The emphasis is entirely on code generation (in order to avoid repetitive and error-prone programming tasks) and new software creation and maintenance.

Users will no longer download individual libraries but install a complete toolchain that supports them in developing real-time component-based robotics applications.

RTT and OCL 2.0.0-beta4 (last beta) released

It's kind-of official. This is the last beta release of the 2.0 mainline.
Everything that should be in 2.0.0 is in, and seems to work... at least on our

>From now on, it's focussing on polishing and see if it survives the RTT
developer's workshop in Barcelona. I'm betting it will.

These are the mandatory links:
-> RTT Downloads and online documentation. Click below to read the rest of this post.

RTT 1.10.4 bugfix Release

The Orocos development team is pleased to announce the fourth bug fix release of the Real-Time Toolkit v1.10, a C++ toolkit for building component based, real-time robotics and machine control applications.

RTT Developer's workshop in Barcelona

This summer, from the 18th of July until the 23th of July, the Real-Time Toolkit developers organize their first developer's meeting in order to align their contributions and set out a path for the future. The topics during this week are code generation tools and user tooling in general, real-time logging infrastructure, RTT 2.0 and run-time interoperability with other software and platforms. The agenda is being crafted at The 1st RTT Developers Workshop. wiki page. Click below to read the rest of this post.

RTT 1.10.3 and OCL 1.10.2 bug-fix releases

Both RTT and OCL feature new bug fix releases which accumulate the fixes for the bugs reported the last months. Click below to read the rest of this post.

RTT and OCL 2.0.0-beta2 Released

It's called beta, but it's closer to release candidate than its name
suggests. This preview release of RTT 2.0 is capable of doing anything
you could do in 1.x, but only better, faster and cheaper. We're very
close to a feature freeze at this point in time and focus on the
testing and taking the latest user feedback into account. The main
focus of this release was to get CORBA transport up and running. It
needs polishing, but you can taskbrowse corba-deployed components.

For the latest information, check out the 2.0.0-beta2 wiki page:

RoboTIS OroYarp and Vision packages, v1.1 released

The RoboTIS-OroYarp v1.1 (the Orocos/Yarp binding package) and
RoboTIS-Vision v1.1 (a computer vision package for Orocos) have just
been released on Onera/RoboTIS website:

RTT and OCL 2.0.0-beta1 Released

Given it's a beta, and some major features are lacking, it's still great stuff.
Until now, development of the 2.0 mainline had two major focusses: API
usability and providing an upgrade path for existing users. The first one
required major API changes, the second one conversion scripts.

This beta release allows you to check most 'C++' and 'scripting' aspects of
2.0 and allows you to grasp a first 'look-and-feel' of what RTT 2.0 offers.
Following beta releases (1.99.x) will expose the improved CORBA transport and
data type generation. Click below to read the rest of this post.