RTT 2.x

Name connections, not ports (aka Orocos' best kept secret)


Problem: How to reuse a component when you need the ports to have different names?

Solution: Name the connection between ports in the deployer. This essentially allows you to rename ports. Unfortunately, this extremely useful feature is not documented anywhere (as of July, 2009). <!-- break -->


  • The build directory is within the source directory.

How to build Debian packages


You want to build debian packages once, so that you can install on multiple machines without building from source on each.


  1. You are building for gnulinux only.
  2. You have "svn-b", etc, alises setup (see "man svn-buildpackage").
  3. You are using Synaptic as your package manager.
  4. Example code is for Orocos v1.8, but also applies to later versions, including 2.x
  5. BASE_DIR is whatever directory you want to put everything into. Click below to read the rest of this post.

The Road to RTT 2.0

This Chapter collects all information about the migration to RTT 2.0. Nothing here is final, it's a scratch book to get us there. There are talk pages to discuss the contents of these pages.

These are the major work areas:

  • New Data Flow API, proposed by S. Joyeux
  • Streamlined Execution Flow API, proposed by P. Soetens (RTT::Message)
  • Full distribution support and cleanup (Events in CORBA)
  • Alternative Data Flow transport layer (non blocking).
  • Small tools for interacting with Components

If you want to contribute, you can post your comments in the following wiki pages. Click below to read the rest of this post.

Components for Control

The Orocos Component Library uses the Real-Time Toolkit (RTT) for constructing all its components.

Some components use the Kinematics and Dynamics Library (KDL), the Bayesian Filtering Library (BFL) or other libraries.

The OCL v2.0 is now an integral part of the Orocos Toolchain and only contains components for setting up and monitoring applications. Applications or hardware specific components have been removed.

The Orocos Real-Time Toolkit

The Orocos Real-Time Toolkit (RTT) provides a C++ framework, or "runtime", targeting the implementation of (realtime and non-realtime) control systems.
It is sometimes refered to as the 'Open Real-Time Control Services'.

The RTT v2.0 is now an integral part of the Orocos Toolchain. This page contains the information for RTT 1.x users