Orocos
The software architecture of the Ressac UAVs is based on the Orocos libraries. "Orocos is the acronym of the Open Robot Control Software project. The project's aim is to develop a general-purpose, free software, and modular framework for robot and machine control. The main library is the Real-Time Toolkit (RTT) that provides the infrastructure and the functionalities to build robotics applications in C++. The emphasis is on real-time, on-line interactive and component based applications." (from http://www.orocos.org/orocos/whatis)
Orocos has good characteristics for robotics applications:
- open, allowing to modify the core functionnality if necessary,
- modular, allowing to specify, develop and test components separately,
- apps are easily deployable and configurable (using XML files, scripts),
- verifyable in some sense: analysing schedulability of components, and safety properties of state machines.
The RoboTIS team actively participates to the development the Orocos toolchain, in particular through the development of Orocos packages.
These packages are downloadable and buildable using Autoproj. Read the package_set page first.
Available packages that are part of the RoboTIS package set are:
- math_service, a service that provides mathematical functions.