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

BFL and MatrixWrapper merged

BFL relies on the MatrixWrapper to make itself independent of the underlying matrix library (Lti or Newmat). In the past BFL and the MatrixWrapper where two separate projects. We now merged the MatrixWrapper into the BFL, which decreases maintenance efforts and makes it easier to install BFL.

Orocos RTT 1.1.0 Released

This is a developer's release and provides a look-ahead on RTT 1.2.0.
It passes all unit tests for the GNU/Linux and Xenomai targets. The
documentation manuals have not yet been updated with the latest changes. The
public API is intended to be fully backwards compatible with Orocos 1.0.x


Docs (in progress):

Changes (in progress):

Build instructions:

We are especially interested in current Orocos 1.0.x users testing this release in order to verify the build system and source compatibility, before RTT 1.2.0 is released.

Orocos Real-Time Toolkit 1.0.3 Released

The Orocos development team announces the third bug-fix release of
the Orocos Real-Time Toolkit 1.0. You can download it here.
This release improved the on-line documentation and addressed the
following reported issues:

   ID    Vers   TargetM   Summary
  338    1.0.2   1.0.3   setScheduler() not working correctly under GNU/Linux
  332    1.0.2   1.0.3   Crash when assigning '0' to Property<T>
  324    oroco   1.0.3   make install broken wrt headers (Ubuntu Edgy)

Visual Servoing with the Orocos Project

Image Based Visual Servoing using RTT 1.0

At KULeuven we succesfully succeeded in doing some real experiments showing image-based visual servoing. Every part of the application is created with RTTs TaskContext. The setup consists of a hacked industrial Kuka-361 robot, a firewire camera attached to the robots end-effector and a Pentium IV PC.

Orocos Real-Time Toolkit 1.0.2 released

The Orocos development team announces the second bug-fix release of the Orocos Real-Time Toolkit 1.0. A license change from LGPL to the GPL + linking exception was done. The LGPL did not cover C++ templates correctly, while the new license does and is legally more sound for use in commercial applications. You can get it from the download page.

KTaskBrowser 1.0 released

We announce the release of the Graphical User Interface to Orocos Components, based on KDE 3. This program allows to show a component's status variables, and shows the progress of program scripts and state machines. It connects to networked Orocos components through the CORBA Naming Service and allows to browse the full network of components.

Consult the README to see how to compile this program and how to setup your Orocos application such that it can be found by the KTaskBrowser. Download here.

Orocos Real-Time Toolkit 1.0.1 Released

The Orocos development team announces the first bug-fix release of the Orocos Real-Time Toolkit 1.0. This release improved the online documentation, fixed bindings to Xenomai and RTAI and contains additions to the Corba interface.

The Orocos Components Library version 0.2.1 and the Orocos Kinematics and Dynamics Library version 0.2.1 have been released as well. These releases include mainly documentation updates. The 'Component Template' package v1.0 has been released as well, which allows Orocos Component builders to quickly construct a new component. The template offers a ready to use build system (using cmake), an example component and an example test program.

KDL 0.2 Release

A new version of the Kinematics and Dynamics Library is released. There were no major changes, only fixes to use this library with the Real-Time Toolkit 1.0.0.

Orocos Real-Time Toolkit 1.0 Released

The past year has been a milestone for Orocos. Never in the history of Orocos was so much time and effort invested in inventing an easy to use tool for building control applications. Every one who had a part in this process can be genuinely proud. Gentlemen, start your controllers !

Old Orocos website off-line.

The old web page has been removed. In order to avoid confusion, the old documentation is no longer on-line. The old software, manuals and API documentation can be downloaded using the link below.

Download older Orocos versions and documentation.
Download 0.24.1 API Documentation