OROCOS, the open source reference when it comes to real-time and control

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1 Introduction Orocos Framework Demo Summary Flanders MECHATRONICS Technology Centre OROCOS, the open source reference when it comes to real-time and control Flanders Mechatronics Technology Centre Leuven 22 March 2006 Embedded Systems in Robotics and Automation FMTC Celestijnenlaan 300 D B-3001 Leuven Belgium Tel: Fax: [email protected] FMTC 2006

Technology Centre Leuven 22 March 2006 Embedded Systems in Robotics and Automation FMTC

2 Introduction Orocos Framework Demo Summary Outline 1 Introduction Problem Domain Orocos Solution Orocos History 2 Orocos Framework Building Applications Component API Component Development 3 Demo Application Setup Interfacing a Single Machine Controller

Orocos Framework Building Applications Component API Component

3 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History Orocos in one-liners Open Robot Control Software Open Source machine control and interfacing Real-time Software Toolkit in C++ Developer s tool Tool for developing components for control Real-time, thread-safe, interactive Offers common component implementations Optional Freely available on:

Software Toolkit in C++ Developer s tool Tool for developing components for control Real-time,

4 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History Outline 1 Introduction Problem Domain Orocos Solution Orocos History 2 Orocos Framework Building Applications Component API Component Development 3 Demo Application Setup Interfacing a Single Machine Controller

Orocos History 2 Orocos Framework Building Applications Component API

5 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History Rapid Software Development Consider solving... More products Much more software With monolithic software. New devices, same problems to solve More software and features Device connectivity and networking

.. More products Much more software With monolithic software.

6 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History Safe Software Development Consider solving... More threads Much more trouble With bare threads and locks as tools. Deadlocks, thread races, data corruption Synchronisation between threads? Communication between threads?

.. More threads Much more trouble With bare threads and locks as tools.

7 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History Flexible Software Development Consider solving... More layers Less control With closed toolkits. Solutions restrict the solution Software interaction? Dead vendor products?

solving... More layers Less control With closed toolkits.

8 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History Outline 1 Introduction Problem Domain Orocos Solution Orocos History 2 Orocos Framework Building Applications Component API Component Development 3 Demo Application Setup Interfacing a Single Machine Controller

9 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History Rapid Software Development Orocos provides... Middleware for Machine Control Software Component deployment and interconnection

10 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History Safe Software Development Orocos provides... Tools for Communication Thread-safe and Real-Time

11 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History Flexible Software Development Orocos is... Free Software Open Infrastructure with lifetime

12 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History Outline 1 Introduction Problem Domain Orocos Solution Orocos History 2 Orocos Framework Building Applications Component API Component Development 3 Demo Application Setup Interfacing a Single Machine Controller

13 Introduction Orocos Framework Demo Summary Problem Domain Orocos Solution Orocos History History 2001: Started as a small research project Founded by Prof H. Bruynickx, KU Leuven : Developed during the PhD of Peter Soetens Sponsored by the EU IST Orocos, Ocean and Open Machine Controller projects and FMTC : Maintained by the FMTC. Modular Machines Group

Bruynickx, KU Leuven 2001-2005: Developed during the PhD of Peter Soetens Sponsored by the EU

14 Introduction Orocos Framework Demo Summary Building Applications Component API Component Developmen Outline 1 Introduction Problem Domain Orocos Solution Orocos History 2 Orocos Framework Building Applications Component API Component Development 3 Demo Application Setup Interfacing a Single Machine Controller

Solution Orocos History 2 Orocos Framework Building Applications Component

15 Introduction Orocos Framework Demo Summary Building Applications Component API Component Developmen The Real-Time Toolkit Components Self-made or community contributions Applications Templates select and connect Components

Real-Time Toolkit Components Self-made or community

16 Introduction Orocos Framework Demo Summary Building Applications Component API Component Developmen Outline 1 Introduction Problem Domain Orocos Solution Orocos History 2 Orocos Framework Building Applications Component API Component Development 3 Demo Application Setup Interfacing a Single Machine Controller

17 Introduction Orocos Framework Demo Summary Building Applications Component API Component Developmen Component Model

18 Introduction Orocos Framework Demo Summary Building Applications Component API Component Developmen Component Interface

19 Introduction Orocos Framework Demo Summary Building Applications Component API Component Developmen Component API Example

20 Introduction Orocos Framework Demo Summary Building Applications Component API Component Developmen Outline 1 Introduction Problem Domain Orocos Solution Orocos History 2 Orocos Framework Building Applications Component API Component Development 3 Demo Application Setup Interfacing a Single Machine Controller

21 Introduction Orocos Framework Demo Summary Building Applications Component API Component Developmen Component Implementation

22 Introduction Orocos Framework Demo Summary Building Applications Component API Component Developmen State Machine Example

23 Introduction Orocos Framework Demo Summary Application Setup Interfacing a Single Machine Controller Outline 1 Introduction Problem Domain Orocos Solution Orocos History 2 Orocos Framework Building Applications Component API Component Development 3 Demo Application Setup Interfacing a Single Machine Controller

24 Introduction Orocos Framework Demo Summary Application Setup Interfacing a Single Machine Controller Demo Machine Hardware

25 Introduction Orocos Framework Demo Summary Application Setup Interfacing a Single Machine Controller Components The basic building blocks...

26 Introduction Orocos Framework Demo Summary Application Setup Interfacing a Single Machine Controller With properties... Components : Configuration

27 Introduction Orocos Framework Demo Summary Application Setup Interfacing a Single Machine Controller Components : Data Flow Connecting data ports...

28 Introduction Orocos Framework Demo Summary Application Setup Interfacing a Single Machine Controller Components : Execution Flow Executing application logic...

29 Introduction Orocos Framework Demo Summary Application Setup Interfacing a Single Machine Controller Putting it all together... Components : Application

30 Introduction Orocos Framework Demo Summary Application Setup Interfacing a Single Machine Controller Outline 1 Introduction Problem Domain Orocos Solution Orocos History 2 Orocos Framework Building Applications Component API Component Development 3 Demo Application Setup Interfacing a Single Machine Controller

31 Introduction Orocos Framework Demo Summary Application Setup Interfacing a Single Machine Controller Demo

32 Introduction Orocos Framework Demo Summary Conclusion Orocos offers a software toolkit for building real-time components rich online browsable component interface user defined real-time state machines Further Reference:

Component-based Robotics Middleware

Component-based Robotics Middleware Software Development and Integration in Robotics (SDIR V) Tutorial on Component-based Robotics Engineering 2010 IEEE International Conference on Robotics and Automation