OROCOS

Orocos, short for Open Robot Control Software, is an open-source robotics software framework designed to support the development of modular, real-time control systems for robots. It emphasizes component-based design, portability across platforms, and real-time execution, enabling engineers to build complex robotics applications from reusable parts.

The core of the Orocos platform includes the Real-Time Toolkit (RTT), which provides a runtime environment for executing components in real time and enabling data exchange between components through a port-based interface. The Orocos Component Model (OCM) defines the lifecycle and interfaces of components, allowing them to be loaded, configured, started, and stopped in a uniform way. Additional libraries such as the Orocos Kinematics and Dynamics Library (KDL) supply algorithms for robot modeling, while tooling and build support help assemble, configure, and deploy component stacks. The suite also interfaces with other middleware and robotics frameworks.

Orocos originated from European academic and industry collaborations in the early 2000s and has been used in research and industrial contexts to prototype robot controllers, planners, and automation systems. The project promotes reuse and interoperability by providing standard component interfaces and real-time guarantees.

The Orocos stack has influenced later robotics software by illustrating a component-based approach to real-time control and has contributed to the broader ecosystem of robotics middleware and software architectures.