RTT 2.x

refactoring of TaskCore

In relation to this: OROMACS I have been working on a refactoring of TaskCore; details see my personal gitorious clone (vri-rtt).

My intentions:

  1. to (if possible) make minimal changes from the perspective of the OROCOS application/component builder; the API of classes used by the end user should change as little as possible. Click below to read the rest of this post.

error in UseOROCOS-RTT.cmake?

It seems that the UseOROCOS-RTT.cmake macro contains an error on line 217; this line should be

rather than



[Release] Orocos Toolchain ROS 0.2.1 released!!!

The Orocos Toolchain ROS stack developers are pleased to announce a new
release of the orocos_toolchain_ros stack

Debian packages are already available for unstable, diamondback and cturtle
(only for lucid and maverick) will be available soon.

Most important changes:

* We moved the development to GIT: the stack is available on
http://git.mech.kuleuven.be/robotics/orocos_toolchain_ros.git (only http
protocol is supported). Click below to read the rest of this post.

Compiling error when using ros-diamondback-orocos-toolchain-ros

Hi all,

I have an Orocos component (PEA_Orocos_Right) using the rtt_ros_integration for communication with ROS. When using ROS cturtle and RTT v2.1.0 it does compile. However when i switch to ROS diamondback with RTT v2.2.0 I get the error message as shown below. Variables and ports appear to be not declared all off a sudden while they are. Click below to read the rest of this post.

problem installing from gzipped source using autoproj

I try to install the toolchain on 64-bit Archlinux from the gzipped source. I have ruby installed, and also zlib 1.2.5. After entering "autoproj build" I enter ruby or none, as I prefer to install osdeps myself. In both cases, the system aborts; last report is as follows:

autoproj: installing autoproj and its dependencies (this can take a long time)
failed: there is an osdeps definition for zlib, but not for this operating system

How to deal with this? Help appreciated.

Thanks, Theo.

Deployer adds data to ethernetpackage


I have a question regarding the use of the deployer and the soem_master.

When I launch my xml file using the deployer

sudo `rospack find ocl`/bin/deployer-gnulinux -s test_package.xml
I go in to the SoemMaster, set the interface. But then when I type configure my hexapod (probably familiar) starts to move a leg. When I use the '-ldebug' option it moves all legs.

Using wireshark I noticed that some data is inserted in the ethernet-packages, which I guess would be the cause of the problem:

EtherCAT frame header
    .... Click below to read the rest of this post.

Doubt Hardware Device Interfaces

Hello everyone. I'm using the latest version of the toolchain and would like access to a card D / A Comedi. Since it has no support in the toolchain Comedi, could create the drivers and put in the "Chapter 8. Hardware Device Interfaces" (http://www.orocos.org/stable/documentation/rtt/v2.x/doc-xml/orocos-components-manual.html#orocos-fdi).

From what I understand, I have to create a class that implements the interface, in my case, AnalogOutInterface, but I have some doubts programming. Has anyone created a class that implements some interface? Click below to read the rest of this post.

[PATCH] for the bug 802

Hi RTT-devs.

I'am trying to make a patch for the bug '802 : Test if a peer has an operation/property'.

I submit you a first attempt. For ports, attributes and properties, it should be ok. But for operations it's not definitive.

I need your help because i don't understand the Service + Operation philosophy.

I add an hasOperation method to the TaskContext class. But i can't implement it with (Service::getOperation != 0) because the behavior should be different (mustn't display the message). Click below to read the rest of this post.

deployer-xenomai, error when quiting

Dear all,

I am running deployer-xenomai (RTT and OCL 2.2) on powerpc. When I quit by:

 Deployer [S]> quit
I receive errors like:

 144.690 [ ERROR  ][Logger] Failed to stop thread TaskBrowser: breakLoop() returned true, but loop() function did not return after 1 second.
I can load my own component and run it in the deployer. But when I type "stop", I receive the same error as above, too.

Does anyone have any idea?



Orocos OCL with Comedi

Hi all. I am a student of the Polytechnic University of Valencia and I am doing a project with Orocos. I've created some simple components to learn the basics of this library.

Well, I have Advantech PCI1720 card (card D / A). I've installed Comedi (is supported) and I created a C program to check its operation.

When I try to create a component that uses this card Comedi (following The Orocos Comedi interface), when I compile I get error " undefined_reference in function comedi_data_read" I think that I'm doing something wrong in the "include" sentencies. Click below to read the rest of this post.