Note before: All this was tested using the orocos 1.0.x branch and xenomai v2.2.x branch. OCL (which uses the cmake build system) was not yet tested.

Warning: These instructions are not meant for the faint of hart :)

Suppose the root file system of your target board is mounted at ${DESTDIR}, and e.g. xenomai is installed at ${DESTDIR}/usr/xenomai, and the linux sources for your target at ${DESTDIR}/usr/src/linux, then do the following:

• Copy the boost headers from your host to ${DESTDIR}/usr/include/boost. Since the boost source code checks for defines set by the compiler, you can simply copy its headers without cross compiling boost first
  

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 !

The old www.orocos.org 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

The Orocos Real-Time Toolkit (RTT) provides a C++ framework, or "runtime", targeting the implementation of (realtime and non-realtime) control systems.
It is sometimes refered to as the 'Open Real-Time Control Services'.

The RTT v2.0 is now an integral part of the Orocos Toolchain. This page contains the information for RTT 1.x users