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Orocos Project documentation

.. toctree::
   :maxdepth: 2
   :caption: Contents:

.. toctree::
  :hidden:
  :caption: The Orocos project
  :maxdepth: 1

  Requirements & Installation <docs_main/installation>
  docs_main/sources
  docs_main/community
  docs_main/related_projects

.. toctree::
  :hidden:
  :caption: Real-Time Toolkit (RTT)
  :maxdepth: 1

  Overview <rtt/overview>
  API reference <rtt/api>
  Orocos Component Builders' Manual <rtt/orocos-components-manual>
  rtt/orocos-rtt-plugins
  rtt/orocos-typekit-plugin
  rtt/rtt-lua-cookbook.rst
  Tutorials <rtt/tutorials>
  Examples <rtt/examples>

.. toctree::
  :hidden:
  :caption: Orocos Component Library (OCL)
  :maxdepth: 1

  Overview <ocl/ocl-overview>
  API reference <ocl/api>
  ocl/orocos-taskbrowser
  ocl/orocos-reporting
  ocl/orocos-deployment
  ocl/lua

.. toctree::
  :hidden:
  :caption: Kinematics Dynamics Library (KDL)
  :maxdepth: 1

  Overview <kdl/overview>
  API reference <http://docs.ros.org/indigo/api/orocos_kdl/html/index.html>
  ROS reference <https://wiki.ros.org/kdl>
  Examples <kdl/examples>

.. toctree::
  :hidden:
  :caption: realtime Finite State Machine (rFSM)
  :maxdepth: 1

  Overview <rfsm/overview>
  ROS reference <https://index.ros.org/r/rFSM/#kinetic>
  Documentation <https://www.orocos.org/stable/documentation/rFSM/index.html>
  Manual <https://github.com/kmarkus/rFSM/blob/master/doc/rFSM-manual.md>
  Source <https://github.com/kmarkus/rFSM>

.. toctree::
  :hidden:
  :caption: Bayesian Filtering Library (BFL)
  :maxdepth: 1

  Overview <bfl/overview>
  API reference <https://docs.ros.org/api/bfl/html/>
  Source <https://github.com/orocos/orocos-bayesian-filtering>

.. toctree::
  :hidden:
  :caption: ROS integration
  :maxdepth: 1

  Overview <ros_integration/overview>
  Sources <ros_integration/sources>
  ros_integration/tutorials

https://www.orocos.org/files/logo-t.png

What is Orocos?

Open Robot Control Software (Orocos)

Orocos is a portable C++ libraries for advanced machine and robot control.

Over the years, Orocos has become a large project of middleware and tooling for development of robotics software. The main parts of this project are the Real Time Toolchain (:doc:`RTT <rtt/overview>`) and the Orocos Component Library (:doc:`OCL <ocl/ocl-overview>`).

https://www.orocos.org/sites/all/themes/orocos/front-logos2.png

Additional libraries were also developed to complement the bundle for advance machine and robot control. These libraries include calculation of kinematic chains, filtering and advance task specification among others.

ROS integration

Orocos framework is well integrated with ROS, a popular software bundle with the largest community among roboticists to design new applications. Most of the concepts from both frameworks map well and are largely supported.

Scope of the documentation

The documentation in this site is limited to the software libraries that are directly developed within the Orocos project. Many other assets are documented externally and links to other sites are also provided.

Note

There has been a large migration effort from the previous site as communicated recently in ROS Discourse.

As a consequence this site is still under construction and therefore some specific pages are still under development.