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 Component Library v0.4.1 Released

This release offers improvements to the TaskBrowser, Deployment and
Reporting component. The TaskBrowser shows an improved component
interface and status view upon the 'ls' command and also stores and
loads history of previous sessions to a history file, allowing you to
search, execute or list commands of previous sessions. The Deployment
component has been further tested and protects you against loading the
same library twice with different versions (which would cause a
crash). The Reporting component outputs a new single line header,
starting with a hash (#) mark and naming the columns as in
'Component.Port.index', which allows greatly improved plotting with
the KDE 3 'kst' application.

The documentation had its gradual update as well.

[ANNOUNCE] Real-Time Toolkit 1.2.1 released

The Orocos development team is pleased to announce the first bug-fix
release of the Real-Time Toolkit v1.2, a C++ toolkit for building
component based, real-time robotics and machine control applications.
Noteworthy changes are improved support for RTAI 3.4 and 3.5 and various
fixes in the CORBA support layer.

Bayesian Filtering Library 0.6.0 released

The Bayesian Filtering Library development team is pleased to announce the 0.6.0 release of BFL.
You can download this release from here and read the installation instructions online (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.
A new feature is the backward filter and smoother algorithm and the CPPUnit tests.
Furthermore for the first time, a step-by-step installation guide is available for Visual Studio on Windows.

Orocos Components Library v0.4.0 released

This release of the Orocos Components Library is aimed at
the Real-Time Toolkit v1.2.0. and offers new functionality
for loading and configuring components dynamically at run-time.

Two new stand-alone applications have been added as well:
deployer: loads other components into the current process
ctaskbrowser: connects the TaskBrowser to a networked component [CORBA required]

[ANNOUNCE] Kinematics & Dynamics Library 0.4 Released

A new release of KDL is now available,

It contains a few bugfixes, creates shared libraries by default and picked up
some long lost classes in the motion module.

you can download it from the website: ,


[ANNOUNCE] Real-Time Toolkit v1.2.0 released

The Orocos development team is pleased to announce the second major
feature release of the Real-Time Toolkit, a C++ toolkit for building
component based, real-time robotics and machine control applications.

Real-Time Toolkit 1.0.4 Released

The Orocos development team announces the fourth bug-fix release of
the Orocos Real-Time Toolkit 1.0. You can download this release from here.
This release addresses the following reported issues:

ID     Vers   TargetM   Summary
378    1.0.3   1.0.4   Loading program in KTaskbrowser reports success upon syntax error
379    1.0.3   1.0.4   'Ghost' attributes appear in TaskContext when state machine loading fails
356    1.0.3   1.0.4   CompletionProcessor is not automatically started
397    1.0.3   1.0.4   -fvisibility-inlines-hidden causes undefined symbols

Ubuntu/Debian packages moved

New Ubuntu/Debian packages of the latest BFL trunk with the integrated MatrixWrapper are available in a new repository. To upgrade to these newest packages, follow the instructions in the download - packages section. The old BFL Ubuntu/Debian packages will remain in the current repository for a while.

BFL moved to Orocos subversion repository

BFL was moved from its original subversion repository, to the Orocos subversion repository. Because this is a different repository, it is not possible to automatically migrate your checks out copy of BFL. You will need to store the local changes in your copy of the old repository (svn diff), then check out the new BFL trunk (svn co, and finally apply your changes to the new trunk. Also check out the updated installation instructions.

BFL switches to cmake

Over the past week, BFL has followed RTT, KDL and OCL in their move from a build system based on autotools, to a build system based on cmake. This should also make it easier to build BFL for Windows. The installation instructions for linux have been updated. If anyone tries a Windows build, we're interested in your experiences.