Orocos RTT/ROS Integration Changelog


Orocos Version:2.7.x
ROS Distro:Hydro

The Orocos RTT/ROS Integration has been heavily refactored and extended in the 2.7 release. Part of this is due to the new Catkin buildsystem standard in the ROS community, but also it is due to long-desired enhancements to the integration packages.

Prior to the 2.7 release, the packages which interfaced core RTT functionality with core ROS functionality was split across four "stacks":

  1. rtt_ros_integration: RTT plugins for communicating with ROS
  2. rtt_ros_comm: RTT Typekits for rosgraph_msgs and std_msgs
  3. rtt_common_msgs: RTT Typekits for common_msgs
  4. TODO: rtt_geometry: RTT typekits for KDL datatypes and RTT plugins for TF

In the 2.7.0 release, the packages from these four repositories have been reorganized. The two repositories which only contained typekits (rtt_ros_comm and rtt_common_msgs) were moved into rtt_ros_integration under a directory called "typekits".

The rtt_rosnode package from the old rtt_ros_integration stack has also been refactored. In previous releases, it contained the following tools:

In this release, the "rtt_rosnode" has been split into four packages:

There are also several API changes related to importing plugins from ROS packages, creating ROS topic connections, and synchronizing RTT properties with ROS parameter server parameters.

See each package's individual CHANGELOG.rst for more details.

2.7.0 (forthcoming)

  • Major reorganization (see additional notes in CHANGELOG.rst)
  • Moved typekits from rtt_ros_comm and rtt_common_msgs into rtt_ros_integration
  • Added Catkin buildsystem support
  • Added RTT interfaces for ROS Service Calls (serving and calling)
  • Added RTT interfaces for ROS Actionlib (action serving)
  • Re-wrote RTT rosparam service to handle parameter arrays more cleanly
  • Added ROS service interface to interact with the Orocos deployer (rtt_rosdeployment)
  • Added RTT interface to dynamic_reconfigure (rtt_dynamic_reconfigure)


Orocos Version:2.6.x
ROS Distro:Fuerte, Groovy, Hydro (2013-02-16)

  • Minor bugfixes (2013-02-16)

  • Minor bugfixes

2.6.0-1 (2012-12-21)

  • Adding support for ROS Groovy

2.6.0-0 (2012-11-22)

  • The RTT interface to rospack has been moved to a separate package called "rtt_rospack"
  • rtt_rosnode: create_boost_headers.py is now compatible with ROS Fuerte


Orocos Version:2.5.x
ROS Distro:Electric

As of the ROS Electric release, the orocos_toolchain_ros stack is split up in 5 different stacks: (2011-11-08)

  • Minor bugfixes (2011-10-21)

  • Minor bugfixes (2011-10-04)

  • Remove rosdep.yaml file, it now lives in orocos_toolchain
  • Minor bugfixes (2011-10-04)

  • Minor bugfixes (2011-09-29)

  • Added primitive typekits for ROS Time and Duration
  • Minor bugfixes (2011-09-29)

  • rtt_tf has been moved to the rtt_geometry stack (2011-09-25)

  • Adding support for ROS Electric
  • Adding support for Orocos 2.5.x


Orocos Version:2.4.x
ROS Distro:Diamondback

The stack contains all of the Orocos Toolchain v2.4.x integrated in the ROS build system. The orocos_toolchain_ros stack contains utilmm, utilrb, typelib and orogen, to automatically create ros packages for the automatic typekit generation for C++ classes.

On top of the Orocos Toolchain v2.4.x this stack contains:

0.4.0 (2011-06-27)

  • Initial stack release


Orocos Version:2.4.x
ROS Distro:C-Turtle

0.0.0 (2010-09-10)

  • Initial development version