[ros-users] [Discourse.ros.org] Questions about improving the ROS real-time method

[Keivan Zavari]

Hi,

Here in Belgium, we do use OROCOS quite regularly and in most cases, we just use Orocos-rtt components instead of ROS nodes. 

- Orocos provides a nice deployment script (similar to a launch file, in its own script and Lua) and 
- a state-machine (again both in its scripting language and Lua) which can make life easier. 
- In some cases we even control the data flow. For example we control in which order the components have to run, `comp1` then `comp2`.

Some similarities would be
- Orocos uses components instead of nodes.
- Orocos uses ports instead of publishers and subscribers. Orocos does very nicely communicate with ros nodes though. 
- Components can be made in C++ & Lua, while in ROS it is C++ & Python.

There is a mailing list for users and a [manual on the website](http://www.orocos.org/stable/documentation/rtt/v2.x/doc-xml/orocos-components-manual.html).

But maybe these are all positive points. There are some other advantages of ROS, like the very fact the there are lot more people involved in its maintenance and the number of active users is much higher.

There are also numerous examples on ros_control. I have only used [this one](https://github.com/uobirlab/kuka) which is a node for communication with an industrial KUKA via some KUKA defined RSI standard.





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