Re: Understanding Orocos

On Sunday 03 September 2006 21:41, eduardomartino wrote:
> Peter:
>
> I didn't undestand when you said that Control Kernel is obsolete. For me,
> it seems that The Robot Control Software uses it, as there is a whole
> chapter explaining how to use it. Also, there are Kernel Samples examples
> availiable to see how it works.

Yes, but new applications should use the orocos-components package, of which 
we will release a 'testing' release shortly. It does not use the 'Control 
Kernel' concept as it is far to complex and hard to use. The control kernel 
is already removed from the latest development release (0.25.1). I'll update 
the website with this information.

>
> Another thing Peter, my motivation towards Orocos would be to control two
> robots: one with 2DOF and other with 8DOF. DoesOrocos supports controlling
> them? Does it have classes to deal with theses non 6DOF machines?

The new orocos-components use the KDL (Kinematics and Dynamics Library) of 
which a 'testing' release is underway as well. This library has been designed 
from the ground up to support 'N' degrees of freedom, and is now tested on 
serial robots. It works here, allowing you to describe the kinematics of your
robot in a text file and load that at runtime.

Peter

-- 
Peter Soetens -- FMTC -- <http://www.fmtc.be>