OROCOS, the open source Flanders reference when it comes to - - PowerPoint PPT Presentation

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OROCOS, the open source Flanders reference when it comes to - - PowerPoint PPT Presentation

Jan 14, 2024 734 likes •1.07k views

Introduction Orocos Framework Demo Summary OROCOS, the open source Flanders reference when it comes to MECHATRONICS Technology Centre real-time and control www.fmtc.be Peter Soetens, FMTC Flanders Mechatronics Technology Centre

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Introduction Orocos Framework Demo Summary

Flanders’ MECHATRONICS Technology Centre www.fmtc.be

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

Peter Soetens, FMTC

Flanders’ Mechatronics Technology Centre Leuven

22 March 2006 Embedded Systems in Robotics and Automation

FMTC Celestijnenlaan 300 D B-3001 Leuven Belgium Tel: +32-16-32.25.90 Fax: +32-16-32.27.46 Email: info@fmtc.be FMTC 2006 Peter Soetens, FMTC http://www.Orocos.org

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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

Peter Soetens, FMTC http://www.Orocos.org

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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: http://www.orocos.org

Peter Soetens, FMTC http://www.Orocos.org

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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

Peter Soetens, FMTC http://www.Orocos.org

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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

Peter Soetens, FMTC http://www.Orocos.org

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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 ?

Peter Soetens, FMTC http://www.Orocos.org

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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 ?

Peter Soetens, FMTC http://www.Orocos.org

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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

Peter Soetens, FMTC http://www.Orocos.org

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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

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Problem Domain Orocos’ Solution Orocos History

Safe Software Development

Orocos provides . . . Tools for Communication ⇒ Thread-safe and Real-Time

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Problem Domain Orocos’ Solution Orocos History

Flexible Software Development

Orocos is . . . Free Software ⇒ Open Infrastructure with ∞ lifetime

Peter Soetens, FMTC http://www.Orocos.org

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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

Peter Soetens, FMTC http://www.Orocos.org

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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

2001-2005: Developed during the PhD of Peter Soetens

Sponsored by the EU IST “Orocos”, “Ocean” and “Open Machine Controller” projects and FMTC.

2005-. . . : Maintained by the FMTC.

‘Modular Machines Group’

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Building Applications Component API Component Development

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

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Building Applications Component API Component Development

The Real-Time Toolkit

Components Self-made or community contributions Applications ’Templates’ select and connect Components

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Building Applications Component API Component Development

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

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Building Applications Component API Component Development

Component Model

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Building Applications Component API Component Development

Component Interface

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Building Applications Component API Component Development

Component API Example

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Building Applications Component API Component Development

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

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Building Applications Component API Component Development

Component Implementation

Peter Soetens, FMTC http://www.Orocos.org

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Introduction Orocos Framework Demo Summary Building Applications Component API Component Development

State Machine Example

Peter Soetens, FMTC http://www.Orocos.org

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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

Peter Soetens, FMTC http://www.Orocos.org

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

Demo Machine Hardware

Peter Soetens, FMTC http://www.Orocos.org

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

Components

The basic building blocks . . .

Peter Soetens, FMTC http://www.Orocos.org

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

Components : Configuration

With properties . . .

Peter Soetens, FMTC http://www.Orocos.org

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

Components : Data Flow

Connecting data ports . . .

Peter Soetens, FMTC http://www.Orocos.org

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

Components : Execution Flow

Executing application logic . . .

Peter Soetens, FMTC http://www.Orocos.org

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

Components : Application

Putting it all together . . .

Peter Soetens, FMTC http://www.Orocos.org

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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

Peter Soetens, FMTC http://www.Orocos.org

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

Demo

Peter Soetens, FMTC http://www.Orocos.org

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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: http://www.orocos.org

Peter Soetens, FMTC http://www.Orocos.org