I've attended a Real-Time Workshop (Embedded Coder) training in Gouda (NL) the last two days. The feature set of this product (and it's pay-some-extra extensions) keep impressing me. Especially the Stateflow and code generation features are relevant to the Orocos context. I think though we'll go for a 'simple' Real-Time Workshop for starters: It plainly converts a simulink model to C code and allows integration with legacy applications and any type of hardware (given you provide the compiler).

I wonder when Octave grows to a daring competitor ? Did any-one dare to write a 'Simulink' GUI on top of this ? Nice SoC project if you ask me :-). Nice work on the MEX interface guys !

More relevant links, found a well written installation manual for RTAI, Comedi, RTAILab etc. Next it explains how Real-Time Workshop generated code can be compiled/linked into a Real-Time Linux application. Neat !