Source code¶
Toolchain¶
The code base of the Orocos project is open and distributed over multiple repositories.
Orocos toolchain: A metapackage that describes the dependencies of Orocos core components.
RTT: The core Real Time Toolchain.
OCL: The Orocos Component Library that provides basic components to deploy an application based on Orocos components.
Log4Cpp: Log4Cpp versioned for Orocos.
Additional libraries¶
The libraries developed to complement the Orocos project are also distributed openly and can be found through the following links.
KDL: an application independent framework for modeling and computation of kinematic chains.
BFL: an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes’ rule.
rFSM: a small and powerful statechart implementation in Lua. Main author’s version.
Ros integration¶
The next additional bundles integrates Orocos concepts into the ROS ecosystem.
rtt_ros_integration: Integration between Orocos and ROS 1.
rtt_ros2_integration: Integration between Orocos and ROS 2.