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 v2.5.0 released !

The Orocos development team is proud to announce the fifth major release of the Orocos Toolchain. It's a fat month late, partly due to your maintainer being loaded, partly due to the had-to-fix-show-stoppers that popped up the last month. The end result is shining though.

Using Orocos to visually track a free-floating target in micro-gravity

The Robotics Demonstration and Test team, in the NASA Goddard Satellite Servicing Capabilities Office, used the Orocos ecosystem to control a Motoman SIA10D industrial robot to demonstrate autonomous visual tracking of both cooperative, and uncooperative, targets in microgravity. NASA robot visually tracking a free-floating, non-cooperative targetNASA robot visually tracking a free-floating, non-cooperative target

Orocos Toolchain ROS v0.4.0.2 Released !

Based on the Orocos Toolchain v2.4.0, this release fixes the 'type mismatch' issue for Ubuntu Lucid users. Also other small fixes for the Orocos-ROS integration have been applied, such as a cmake problem when generating typekits and generating a correct header file name in the typekit/ subdirectory. This project is available on

Orocos Toolchain 2.4.0 Released !

A new major release of the Orocos Toolchain is available, the 4th since our 2.0 cycle started. This release confirms the trend of the previous releases: getting bugs out of the core libraries and extending/improving the tooling.

Notable improvements can be found in the rtt-lua scripting bindings, which is nearing its 1.0 release and widely used by now; a new appender for logging to Apache ChainSaw has been added to OCL's logging service; orogen/typegen has evolved further, including a generic POSIX mqueue transport and the RTT data flow implementation has been optimized to only have minimal copies of data. Various anoying bugs were fixed in RTT XML serialization, Taskbrowser and scripting.

Orocos Toolchain v2.3.2 released !

A new bug-fix release is out, nailing down some of these annoying paper-cut class bugs. Click below to read the rest of this post.

Report on Orocos/YouBot hands-on workshop at euRobotics Forum

The euRobotics Forum workshop on Orocos has been a great success. About 30
people attended and participated in the hands-on workshop. The Real-Time &
Open Source in Robotics track drew more than 60 people. Both tracks were

We would like to thank all participants for attending our workshop and the
enthousiasm with which they have completed it. We also appreciated the
feedback and we will certainly do something with that.
We have put all presentation material on-line on the workshop wiki pages,
see here for a direct link:

Orocos Workshop at euRobotics Forum, 7 April, Västerås

Intermodalics, Locomotec and KU Leuven organize an Orocos hands-on workshop on April 7 at the euRobotics Forum 2011, held in Västerås, Sweden on April 6-8. This is the major annual networking event for academic and industrial robotics researchers and product developers. Attending this event is only 94€ which includes all meals served at the European Robotics Forum on April 6-8, including dinner and evening activities. The participants also get free access to the exhibition and three full days of interesting seminars and sessions.

During the workshop, the participants will use their own laptop to control a real and a simulated KUKA YouBot, for which Locomotec is doing the distribution.

We are setting up a workshop webpage where participants can find the instructions on how to prepare for this workshop. Registration for the workshop is required, registered users will also receive updates by email as the instruction are updated.

euRobotics Forum Programme euRobotics Forum Registration

Orocos Toolchain v2.3.0 released !

All the buzz was right, a new release was anxiously waiting to become official, only being released when all tests pass on all platforms. We got it rock-solid on various Linux flavors, Windows (Visual Studio) and Mac OS-X. Focusing on usability instead of features, it accumulates tons of suggestions and improvements offered by the community, translated in 262 patches alone for RTT between 2.2.0 and 2.3.0.

You can find all the relevant download links and documentation on this page:

[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 (only http
protocol is supported). Click below to read the rest of this post.

Orocos Toolchain v2.2.1 Released

The v2.2.1 bugfix release of the Orocos toolchain is out. As usual, this release fixes issues discovered in the 2.2.0 release. Most notable improvements are:

  • Bootstrapping ( script) works in ROS environments. It will detect if you're in a ROS_ROOT environment and check your ROS_PACKAGE_PATH. OCL and RTT will install according to ROS 'standards'. Click below to read the rest of this post.