[ANNOUNCE] Orocos 0.22.0

We announce the release of Orocos 0.22.0, a C++ software framework for 
(realtime) robot, process and machine control.

<http://www.orocos.org/download.html>

This major feature release added the following new features to
the Orocos software:

 * Xenomai 2.0 Port
   http://www.xenomai.org

 * Control Kernel Process Component
   One can now redefine the order in which Components are run.

 * Control Kernel Kinematics Component
   A 'Process' Component which centralises kinematic calculations 
   and tracks the robot's kinematic state.

 * N-axis Kinematics
   Upgrade from the Kinematics interface from 6-degrees of 
   freedom kinematics to N-degrees of freedom.

 * Lock-free, real-time Events
   The event mechanism does no longer require the boost-signals library 
   and is now lock-free and hard real-time.

 * Event based (reactive) state machines
   The Orocos StateMachines can also change state on the 
   basis of Orocos events.

 * Data Flow ports for 'Task Contexts'.
   Defines a new Component model for Orocos.

Feature improvements, API changes, bugfixes and caveats can be found in :
  <http://www.orocos.org/releases/orocos-changes-0.22.0.html>
-- 
Peter Soetens -- FMTC -- <http://www.fmtc.be>