[ros-users] [Orocos-users] [Release] Orocos Toolchain ROS 0.2.1 released!!!

Ruben Smits ruben.smits at mech.kuleuven.be
Wed Feb 9 13:20:55 UTC 2011

On Wednesday 09 February 2011 14:00:31 Ruben Smits wrote:
> The Orocos Toolchain ROS stack developers are pleased to announce a new
> release of the orocos_toolchain_ros stack
> <http://www.ros.org/wiki/orocos_toolchain_ros>.
> Debian packages are already available for unstable, diamondback and cturtle
> (only for lucid and maverick) will be available soon.
> Most important changes:
> * We moved the development to GIT: the stack is available on
> <http://git.mech.kuleuven.be/robotics/orocos_toolchain_ros.git> (only http
> protocol is supported). Since we use git submodules do not forget to use '--
> recursive' if you clone or to issue 'git submodule init;git submodule
> update' after cloning.
> * Integration of RTT/Properties and ROS/Parameters: a new RTT service is
> available in the rtt_ros_param package that allows RTT users to store
> component properties on the ROS parameter server or to refresh them using
> values on the ROS parameter server. The integration also works seamlessly
> for your complex types as long as a RTT/Typekit for the type exists. Check
> <http://www.ros.org/wiki/rtt_ros_param> for more details.
> * The RTT typekit and transportkit generation for messages now creates a
> single library/typekit/transportkit for each package instead of one for each
> message type.
> * RTT and OCL are now native ROS packages, which allows us to use rosmake
> directly on the RTT and OCL source.
> * OCL offers a orocreate-pkg tool to create a new Orocos package (which uses
> rosbuild behind the scenes if available) including template code for
> components, typekits, plugins and services.

More information on orocreate-pkg: <http://www.orocos.org/wiki/orocos/toolchain/getting-started/using-orocreate-pkg>

More information on creating Orocos packages:

> * the OCL/deployer can now be used with roslaunch, each deployed process
> becomes a single node, containing the different deployed components.
> * the OCL/deployer now uses rospack in its import functionality, to find new
> component libraries, services, plugins, typekits and transportkits.
> What's still on the roadmap:
> * Nicer solution for sequence types in the rosparam integration
> * Integration of the RTT/logging with the ROS/logging
> * Integration of RTT/Operations and ROS/Services (This one is currently on a
> hold because the feasibility is still uncertain)
> More information on the use of Orocos/RTT itself can be found on
> <http://www.orocos.org/wiki/toolchain>

-- Your friendly Orocos-ROS integration team.

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