On Wednesday 10 September 2008 06:57:56 aladdin7938 [..] ... wrote: > I m pretty interested in this project and wanna join development team. Is > there anyone know where should i start?

By becomming a user and subscribe to the orocos-dev mailing list :-)

Read the installation manuals, get the code using svn, compile it and start writing your application. Along the way, you'll find faults in the documentation, missing wiki pages, awkward code constructs and missing features. Fix any. Most of us are here to help no matter which problem you encounter.

I'm not sure if you're talking OCL, RTT, KDL or BFL, but in case of the first two/three, we are missing a very typical example application with a few components:

Imagine you have a robot which can be driven by a joystick ('manual mode'), or which executes a motion script ('automatic mode'). You want to be able to switch between these two at any time at run-time. So you'll have a robot component (providing hardware access), a joystick component ( reading the joystick ), a 'motion interpolator' component which executes the script, a 'manual drive' component which converts joystick position setpoints to robot velocity setpoints and a 'mode switch' component which manages switching between the two modes, possibly using an external IO switch. Of course, the application is setup using the XML format.

May this look quite basic, it contains though almost all aspects of the RTT and OCL. It will force you to choose activities, data flow interfaces, properties, write scripts, use KDL for motion interpolation and OCL for setting up the application (deployer/taskbrowser)

If you're more like a GUI kind of developer, you could maybe find a way to link glade to Orocos, allowing easy application specific visualisation and control of Orocos applications. Glade allows you to draw your gui (see attachment for an example) and an extra Orocos XML file could specify how to set it up such as in

<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE properties SYSTEM "cpf.dtd">
<properties>
  <simple name="DataPort" type="string">
    <value>Controller.Position:Label4</value></simple>
  <simple name="Property" type="string">
    <value>Controller.Gain:Label6</value></simple>
  <simple name="Action" type="string">
    <value>Camera1.Start():Button4</value></simple>
</properties>

As I said in the beginning, fix any :-)

Peter