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Flanders’MECHATRONICSTechnology Centrewww.fmtc.be
Orocos IntroductionOpen Robot Control Software
Peter Soetens
Flanders’ Mechatronics Technology CentreLeuven
1 October 2007FMTC, Leuven
FMTC Celestijnenlaan 300 D B-3001 Leuven BelgiumTel: +32-16-32.25.90 Fax: +32-16-32.27.46 Email: info@fmtc.be FMTC 2006
Outline
1 Introduction
2 Approach
3 Example Application
Section Outline
1 IntroductionExamples
2 ApproachThe Component ModelCommunication Categories
3 Example Application
Orocos in one-liners
The Real-Time Toolkit (RTT):Open Robot Control Software⇒ Open Source ’robot’ control and interfacingReal-time Software Toolkits in C++⇒ Developer’s toolTool for developing components for control⇒ Real-time, thread-safe, interactiveOffers common component implementations⇒ Optional
Freely available on:http://www.orocos.org
Outline
1 IntroductionExamples
2 ApproachThe Component ModelCommunication Categories
3 Example Application
Communication and Behaviour
Continuous control: tracking a light source.
Communication and Behaviour
Continuous and discrete control: Placing a car window
Introduction
In these examples, Orocos was used todo the real-time communicationsdefine the real-time behaviour of machines in response tocommunicationaccess the hardware devicescreate components which do all this.
Introduction
In these examples, Orocos was used todo the real-time communicationsdefine the real-time behaviour of machines in response tocommunicationaccess the hardware devicescreate components which do all this.
Introduction
In these examples, Orocos was used todo the real-time communicationsdefine the real-time behaviour of machines in response tocommunicationaccess the hardware devicescreate components which do all this.
Introduction
In these examples, Orocos was used todo the real-time communicationsdefine the real-time behaviour of machines in response tocommunicationaccess the hardware devicescreate components which do all this.
Section Outline
1 IntroductionExamples
2 ApproachThe Component ModelCommunication Categories
3 Example Application
Outline
1 IntroductionExamples
2 ApproachThe Component ModelCommunication Categories
3 Example Application
A Component Model for Control
ApproachCreate a software component for each ‘task’ within themachine
Component Definition
CommunicationDefined by thecomponent interface
BehaviourDefined by real-timestate machines
Component Definition
CommunicationDefined by thecomponent interface
BehaviourDefined by real-timestate machines
Work-flow
Component ModelReal-Time Toolkit tobuild components
ComponentsRe-usable part of anapplication
Applications‘Deployments’ selectand connectComponents
Work-flow
Component ModelReal-Time Toolkit tobuild components
ComponentsRe-usable part of anapplication
Applications‘Deployments’ selectand connectComponents
Work-flow
Component ModelReal-Time Toolkit tobuild components
ComponentsRe-usable part of anapplication
Applications‘Deployments’ selectand connectComponents
Outline
1 IntroductionExamples
2 ApproachThe Component ModelCommunication Categories
3 Example Application
Component CommunicationPatterns
In which ways can components communicate?
Configuration of parametersExchange dataCooperate to achieve a task
Component CommunicationPatterns
Component Interface
Component Interface
Component Implementation
State Machine Example
Section Outline
1 IntroductionExamples
2 ApproachThe Component ModelCommunication Categories
3 Example Application
Example Application
How are these communication primitives used ?
Example Application
Deployment Configuration
Component Interface
Communication: Configuration
Configuration Flow : Properties
Communication: Data
Data Flow : Ports and Connectors
Communication: Data
Data Flow : Ports and Connectors
Communication: Execution
Execution Flow
Communication: Execution
Execution Flow: Methods
Communication: Execution
Execution Flow: Commands
Communication: Execution
Execution Flow: Events
Communication: Complete Picture
Example Application Summary
The following steps lead to a control application design:identification of the ‘control tasks’→ componentsdefining each component’s interfacesetting up components connectionsdefining component or application behaviours
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