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

Dynamic parameter identification of a robot and its payload

Experimental parameter estimation of an Industrial 6-DOF Robot (KUKA KR30HA) and its payload using periodic excitation trajectories. Click below to read the rest of this post.

RTT and OCL 1.12.1 released

The Orocos development team is pleased to announce the first bugfix release of the Real-Time Toolkit v1.12, a C++ toolkit for building component based, real-time robotics and machine control applications. Together with RTT, OCL 1.12.1 is released as well. This release aims at resolving some of the component and plugin loading issues that were discovered after the 1.12.0 release.

Orocos Toolchain v2.2.0 released

The Orocos development team is proud to announce the second major feature
update release of the Orocos Toolchain. It marks an important milestone in our
search for the ultimate real-time robotics software framework.

This release will allow Orocos users to use lighter and faster usage patterns
for building components and applications. For example, we support ROS package
trees for importing component packages, provide a script to create such
packages automatically and we finally came up with cheat sheets to decorate the
wall in front of your desk.

C Turtle Update: Now with Orocos

An announcement from our service-robotics friends at ROS:


We've released a new set of debian packages for C Turtle. This update
is notable as it is the first release that includes an externally
contributed stack: orocos_toolchain_ros. orocos_toolchain_ros provides
compatibility between ROS and the Orocos robot software framework.
We're very excited that we are now able to provide debian packages
from the growing ROS community and hope to see more community
contributions in future updates.

For a list of updated stacks, please see:

 -- your friendly neighborhood ROS packers

BFL typekit for rtt 2.0

The Bayesian Filtering Library development team is pleased to announce
the first version BFL typekit for rtt 2.0.

You can check out the typekit (in the form of a ROS package) from
This typekit only works together with the latest 0.8 branch of BFL.
The ROS package for BFL 0.8 is also available from

For the moment this typekit supports all basic BFL types.
Support for vectors of... Click below to read the rest of this post.

BFL 0.8.0 release

The Bayesian Filtering Library development team is pleased to announce
the 0.8.0 release of BFL.
You can download this release from
and read the installation instructions
(also reachable through the orocos website).

This release includes support for lti, boost and newmat as matrix
library and lti and boost as random number generator.
The new release contains beside bug fixes, adaptations to the matrix
wrapper to allow a new RTT 2.0 toolit for BFL.

Details are available through:
h... Click below to read the rest of this post.

Orocos Toolchain v2.1.0 Released

One month has passed since our historical 2.0.0 release, so it was about time to release the more-than-minor fixes and extensions of the v2.x line. Here is the Orocos Toolchain v2.1.0, helping us better than ever to build all sorts of robots and machines.

ANNOUNCE: Lua RTT plugin beta1 released

I'm pleased to announce a first beta of the Lua RTT bindings. This
code allows to use the powerful Lua scripting language to interact
with the RTT.

The main features are:

- usable as standalone interpreter (scriptable taskbrowser), Lua
Component or Lua service.

- implements a large part of the RTT API. The following entities are
supported: TaskContext, InputPort, OutputPort, Property, Service,
RTT Types (incl. user defined ones and Operators), Operation,
SendHandle, Logger. Click below to read the rest of this post.

Orocos RTT and OCL 1.12.0 Released

Some might have lost a bet today, but here's the next major RTT/OCL 1.x release. It's an important release for all those dreaming of upgrading to the 2.0 mainline. Upgrading to 1.12 brings you one step closer to 2.0. This is due to the backporting of the component and plugin loading framework of the 2.0 mainline to the 1.12 release. There are some caveats as usual, but some nice features as well. Especially Windows users will be happy to hear that dynamic component and plugin loading is now also supported on that platform. Also some convenience functions for XML marshalling ('marshalling.storeProperties') and Corba server creation ('corbaComponent') during deployment have been added.

You can find all the details as you dig into the release notes below.

Orocos Toolchain v2.0.2 Released

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

  • typegen: fix missing headers in generated mqueue files
  • corba transport: several fixes when calling remote operations
  • taskcontext: fixed crashes during cleanup and addEventPort
  • mingw32: fix build issues
  • win32: many fixes and install by default in "Program Files/orocos"
  • deployment: smarter loading of components and plugins and much better error reporting.
  • taskbrowser: also list properties and ports in services

Which are reflected in about 50 patches since v2.0.1. Click below to read the rest of this post.