RTT 2.0 Tutorial

A walkthrough of how Orocos components can be built using the RTT. Your main companion is the Orocos TaskBrowser which allows you to interactively setup and interact with an Orocos application.

• RTT 2.x Exercises

These exercises are hosted on Github .

You need to have the Component Builder's Manual (see Toolchain Reference Manuals) at hand to complete these exercises.

Connecting and Running Components

Setting up applications using the deployer application

• Running Orocos Components
• Connecting Ports using XML
• Configuring and Starting Components from an Orocos Script
• Connecting ports of components distributed with CORBA
• Connecting ports of components distributed with ROS
• Connecting ports of components distributed with POSIX MQueues
• Using XML substitution to manage complex deployments

Take also at the Toolchain Reference Manuals for in-depth explanations of the deployment XML format and the different transports (CORBA, MQueue)

Using the Logging (log4cpp) infrastructure

• Using real-time logging

Links to Orocos components

• Links of Orocos components