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Eleventh Real-Time Linux Workshop on September 28 to 30, in Dresden, Germany

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Papers

Real Time Toolkit for Open Robot Control Software

Peter Soetens, Katholieke Universiteit Leuven
Markus Klotzbücher, Katholieke Universiteit Leuven

The RTT (Real Time Toolkit) of the OROCOS (Open Robot Control Software - www.orocos.org) Project is a Free Software framework for developing component based, hard real-time machine control and robotics applications. Some important features are support for mixing real-time and non real-time components, real-time state machines and scripting and dynamic component deployment. The RTT can be configured to run on Xenomai, standard Linux, MacOsX and Windows.

Currently the OROCOS community is working hard towards the 2.0 release which is scheduled for the end of the year. We give an overview of the RTT, discuss our experience with Xenomai and present some upcoming features of the 2.0 release.