On Monday 13 November 2006 13:54, Jan Kiszka wrote: > Peter Soetens wrote: > > The "Open Robot Control Software" (Orocos) project uses Xenomai > > for realising its real-time behaviour. > > > > The Orocos Real-Time Toolkit v1.0.0. > > http://www.orocos.org > > ==================================== > > > > The Orocos development team is proud to announce the first stable > > release of the Real-Time Toolkit (RTT), a C++ toolkit for building > > component based, real-time robotics and machine control applications. > > Congratulations to this milestone! Really nice, professional work. > > Could you elaborate a bit on the degree of Xenomai integration? What is > working, what might be missing (compared to other RTOS ports)?
Well, I'd like to share our very positive experiences with Xenomai. The Real-Time Toolkit only uses a handful of RTOS primitives, so Xenomai is fully supported, as well since the RTT does not have any device drivers (that's now in the Component's Library). Especially debugging Xenomai programs starts working really well. Some of our new projects use Xenomai exclusively. > What is > the status of driver support? And were you able to collect any practical > experience on larger setups over Xenomai already? The components which address hardware were written for RTAI/LXRT some years ago. We're building up experience with the RTDM and a port is a matter of time, although that is in the hands of our friends at the university (which have said hardware). Especially the clean API, solid separation kernel/userspace in headers and robustness make a Xenomai build really reliable, even across Linux/Xenomai versions. Shame it didn't exist 5 years ago.... :-) Peter -- Peter Soetens -- FMTC -- <http://www.fmtc.be> _______________________________________________ Xenomai-help mailing list [email protected] https://mail.gna.org/listinfo/xenomai-help
