The Open Robot Control Software (OROCOS) framework provides the tools to build real-time software components in C++, designed for robot and machine control. The Orocos Real-Time Toolkit provides an infrastructure to quickly setup applications in a real-time operating system such as RTAI and Xenomai, although it can be tested on normal Linux systems. It is designed to appeal to roboticists. License: GNU Lesser General Public License (LGPL) Changes: Component network communication is now more flexible, allowing you to choose a communication protocol at runtime instead of compile time. Component compile times and memory footprints have drastically improved. The component model has been extended with an Error and Active component state. Debian packages supporting RTAI/LXRT, GNU/Linux, and Xenomai for Debian Etch have been made available for the first time.

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