• http://www.rock-robotics.org/stable/documentation/orogen

oroGen is a specification language and code generator for the Orocos Realtime Toolkit (RTT). The Orocos/Real Time Toolkit is a C++ library allowing to build component-based systems (http://www.orocos.org/rtt). The orogen tool allows to create new components easily.

In oroGen, one write a specification that describes the components you want to develop. Then, orogen generates the corresponding C++ code and CMake build system so that you -- the component developer -- has only to care about implementing the actual functionality.

The remaining of this readme is about oroGen installation. See the user's guide for more in-depth usage information:

• oroGen documentation

oroGen is part of the Robot Construction Kit. Check out rock-robotics.org for installation instructions.