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The official site of [orocos.org](https://orocos.org/) is back online after an upgrade. [docs.orocos.org](https://docs.orocos.org/) now centralizes all the documentation related to the Orocos Project.

If you have questions, comments or want to contribute to this temporary page, please open an issue or pull request at [{{ site.github.repository_url }}]({{ site.github.issues_url }}).

Most of the manuals linked below should probably be rewritten in [Markdown](https://guides.github.com/features/mastering-markdown/) to be rendered by [Jekyll](https://jekyllrb.com/). Contributions to the [documentation](https://docs.orocos.org) are welcome! Feel free to submit a pull request to https://github.com/orocos/orocos-docs if you feel that something is missing or needs to be clarified.

What is the Orocos Toolchain?

The Orocos Toolchain is your primary tool to create real-time robotics applications using modular, run-time configurable software components.

It provides:

  • Multi-platform support: Linux, Windows (Visual Studio) and Mac OS X
  • Extensions to other robotics frameworks: ROS, Rock, Yarp
  • Code generators to transfer user-defined data between distributed components
  • Run-time & real-time configurable and scriptable components
  • Logging and reporting of system events and communicated data

It consists of:

  • AutoProj, A tool to download and compile the necessary libraries (optional)
  • The Real-Time Toolkit, a component framework that allows us to write real-time components in C++
  • The Orocos Component Library, the necessary components to start an application and interact with it at run-time
  • OroGen and TypeGen, tools to generate ready-to-compile-and-run code from existing headers or component description files

Components built by users of Orocos are hosted in their own repositories.

Download

Binaries

Binary builds are currently only available for Linux through ROS.

Source repositories

For ROS users:

Documentation

Latest released version ({{ site.data.releases[0].version }})

  • [RTT API Reference](rtt/{{ site.data.releases[0].doc_branch }}/api/html/index.html)
  • [OCL API Reference](ocl/{{ site.data.releases[0].doc_branch }}/api/html/index.html)

Latest development version (master)

Cheat sheets

  • [OROCOS Cheat Sheet](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos_cheat_sheet.pdf)
  • [RTT Cheat Sheet](rtt/{{ site.data.releases[0].doc_branch }}/xml/rtt_cheat_sheet.pdf)

All manuals

  • [Installing the RTT](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-installation.html) ([pdf](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-installation.pdf))
  • [Component Builder's Manual](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-components-manual.html) ([pdf](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-components-manual.pdf))
  • Building Components using oroGen
  • [Orocos plugins](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-rtt-plugins.html) ([pdf](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-rtt-plugins.pdf))
  • [Orocos typekits](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-typekit-plugin.html) ([pdf](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-typekit-plugin.pdf))
  • Building Typekits using typegen
  • [Orocos TaskBrowser](ocl/{{ site.data.releases[0].doc_branch }}/xml/orocos-taskbrowser.html) ([pdf](ocl/{{ site.data.releases[0].doc_branch }}/xml/orocos-taskbrowser.pdf))
  • [Orocos Deployment](ocl/{{ site.data.releases[0].doc_branch }}/xml/orocos-deployment.html) ([pdf](ocl/{{ site.data.releases[0].doc_branch }}/xml/orocos-deployment.pdf))
  • [Orocos Reporting](ocl/{{ site.data.releases[0].doc_branch }}/xml/orocos-reporting.html) ([pdf](ocl/{{ site.data.releases[0].doc_branch }}/xml/orocos-reporting.pdf))
  • [Orocos CORBA Transport](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-transports-corba.html) ([pdf](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-transports-corba.pdf))
  • [Orocos Message Queue Transport](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-transports-mqueue.html) ([pdf](rtt/{{ site.data.releases[0].doc_branch }}/xml/orocos-transports-mqueue.pdf))
  • The RTT-Lua Cookbook