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AnintroductiontotheOrocosReal-TimeToolkitrFSMandiTaSCReal-timeandPortable●HardrealtimeisOrocos’competitiveadvantage:●Lock-freedataportsfavourhighestprioritycomponentactivity.●Realtime-awarememorymanagement.●Doesnotpreventnon-realtimeuse!●...inanextremelyflexibleandextendibleprogrammingenvironmentReal-timeandPortable●OrocosToolchainissupportedon:●Linux32/64bit(GNU,clang,Intel)●Real-TimeLinuxExtensions–Xenomai–Real-TimeApplicationInterface(RTAI)●MacOS-X(GNU)●Windows(XP->7)32/64bit(MSVS2005-2010)●QNX(GNU)–betaExtensionstoRTT●Log4Cpploggingframework–Withreal-timeloggingsupport●Luascriptingsupport–Withapplicationdeploymentandsupervision●OroGen/ROCK–Modelbasedcodegenerationofcomponentsandapplications●ROSintegration–Opensourceframeworkforservicerobotics●Networkedcomponentcommunication–Messagequeues,CORBA,Yarp,ZeroMQ(planned)ExtensionstoRTT●iTaSC–instantaneousTaskSpecificationusingConstraints●rFSM–(independent)hierarchicalstatemachinesWho’susingOrocos...?●Institutes:–K.U.Leuven(B),FUBerlin(D),PolytechnicUniversityofCatalonia(ES),UniversityofFlorida(US),GermanresearchcentreforArtificialIntelligence(DFKI,Bremen,D),UniversityofNewSouthWales(Sydney,AU),UniversityofMaryland(USA),PolytechnicUniversityofMilan(I),UniversityofSouthernDenmark,Onera(F),Irisa(F),Cea(F)●Companies:–threeFMTCmembercompanies(withalreadyoneproductseveralyearsonthemarket!);WillowGarage;andsomeothermachineorroboticsbuildercompaniesinBelgium,France,Spain,Canada,USA(NASA)andtheNetherlands,withseveralproductsonthemarketAComponent’sLifeCycle●Allowsnonreal-timeconfigurationandcleanup●Startingisonlyallowedonceconfiguredcorrectly●ExtendedwithbasicerrorstatesAComponent’sBasicCommunication●Inwhichwayscancomponentscommunicate?●Configurationofparameters●Exchange(streaming)data●CooperatetoachieveataskAComponent’sBasicCommunicationAComponent’sInterface:RobotExampleAComponent’sInterface:RobotExample
