# ROS2 and OROCOS Integration

**URL:** <https://discourse.openrobotics.org/t/ros2-and-orocos-integration/33719>\
**Category:** ROS General\
**Tags:** ros2, ros-industrial, orocos\
**Created:** [September 25, 2023, 11:58am UTC](https://discourse.openrobotics.org/t/ros2-and-orocos-integration/33719 "2023-09-25T11:58:10Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![ljaniec](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/ljaniec/32/9719_2.png) [@ljaniec](https://discourse.openrobotics.org/u/ljaniec)\
**Post date:** [September 25, 2023, 11:58am UTC](https://discourse.openrobotics.org/t/ros2-and-orocos-integration/33719/1 "2023-09-25T11:58:10Z")

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Hello,

I am currently working on a project that requires integrating ROS2 with OROCOS, and I am seeking your recommendations. I would appreciate any information or code examples you can provide, as well as the pros and cons of using this integration.

To give you some context, our project involves developing a complex robotic system that requires the real-time capabilities provided by OROCOS, while leveraging the extensive middleware and ecosystem of ROS2. We believe that combining the strengths of these frameworks we can show how to enhance development process and how to build a more robust and versatile system.

With that in mind, I have a few specific questions regarding the integration of ROS2 and OROCOS:

- **Code Examples** : If any of you have successfully integrated ROS2 with OROCOS, I would greatly appreciate it if you could share some code examples or provide guidance on how to approach this integration. Examples related to data exchange, communication mechanisms, and synchronization between the two frameworks would be particularly helpful. If you have integrated OROCOS with ROS 1, I would also love to see this project!

- **Pros and Cons** : In your experience, what are the main advantages and disadvantages of using ROS2 and OROCOS together? Are there any particular challenges or limitations you encountered during the integration process? It would be fantastic to gain insights into the trade-offs involved.

- **Best Practices and Recommendations** : Are there any best practices or recommendations you can share when integrating ROS2 with OROCOS? This could include considerations for system architecture, deployment strategies, performance optimizations, or any other aspects that you found crucial for a successful integration.

- **Community and Resources** : Lastly, I would love to hear about any resources, tutorials, or publications that you found valuable for learning about the ROS2 and OROCOS integration. Are there any communities or forums where I can find more information or connect with experts in this area?

If it can be of any help - my dive through the posts and other sources showed me these:

- [Updates on Orocos ROS 1 and 2 integration - ROS General - Open Robotics Discourse](http://discourse.ros.org/t/updates-on-orocos-ros-1-and-2-integration/15146) (“Updates on Orocos ROS 1 and 2 integration”)
- [GitHub - orocos/rtt\_ros2\_integration: Orocos ROS 2 integration libraries and tools](https://github.com/orocos/rtt_ros2_integration) (“Orocos RTT / ROS Integration Packages”)
- [Benchmarking Real-Time Capabilities of ROS 2 and OROCOS for Robotics Applications | IEEE Conference Publication | IEEE Xplore](https://ieeexplore.ieee.org/document/9561026) (“Benchmarking Real-Time Capabilities of ROS 2 and OROCOS for Robotics Applications”)
- [Tutorial: Orocos + ROS integration — Orocos documentation](https://docs.orocos.org/ros_integration/tutorials.html#external-tutorials) ([empty…](https://docs.orocos.org/ros_integration/tutorials_ros2.html))

Looking forward to your responses!

Best,  
Łukasz Janiec

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**Author:** ![Peter\_Soetens](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/peter_soetens/32/6391_2.png) [@Peter\_Soetens](https://discourse.openrobotics.org/u/Peter_Soetens)\
**Post date:** [September 26, 2023, 12:23pm UTC](https://discourse.openrobotics.org/t/ros2-and-orocos-integration/33719/2 "2023-09-26T12:23:37Z")

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Hi Lukasz,

We have been integrating Orocos and ROS 1/2 for many years in different robotic projects. Could you contact us on [Book a meeting with us - Intermodalics](https://www.intermodalics.eu/get-support) ?

Thanks !  
Peter

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**Author:** ![ljaniec](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/ljaniec/32/9719_2.png) [@ljaniec](https://discourse.openrobotics.org/u/ljaniec)\
**Post date:** [September 26, 2023, 1:57pm UTC](https://discourse.openrobotics.org/t/ros2-and-orocos-integration/33719/3 "2023-09-26T13:57:05Z")

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Hello @Peter_Soetens, I will gladly schedule a meeting.

Just to be clear and not disappoint you, this project is a part of the university course I am helping to update to newer version (from ROS 1 to 2 etc.). Funding such support by an external consultancy will not be possible. If it’s an immediate dealbreaker, let me know about it before.

Best,  
Łukasz

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**Author:** ![Peter\_Soetens](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/peter_soetens/32/6391_2.png) [@Peter\_Soetens](https://discourse.openrobotics.org/u/Peter_Soetens)\
**Post date:** [September 26, 2023, 2:37pm UTC](https://discourse.openrobotics.org/t/ros2-and-orocos-integration/33719/4 "2023-09-26T14:37:38Z")

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Hi Lukasz,

No problem at all, if we can help by pointing you in the right direction, that could be a win-win in the end !

Greetings,  
Peter

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**Author:** ![destogl](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/destogl/32/7158_2.png) [@destogl](https://discourse.openrobotics.org/u/destogl)\
**Post date:** [September 30, 2023, 6:40am UTC](https://discourse.openrobotics.org/t/ros2-and-orocos-integration/33719/5 "2023-09-30T06:40:28Z")

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> **ATTENTION** : biasd answer since I am maintaner of ros2\_control

Hi Lukasz,

Since you are already porting everything to ROS 2, maybe it is also time to reconsider the use of OROCOS, and use ros2\_control instead. I understand that they are not the same – but it might be that all the features you need, you can also get with ros2\_control.

If you like to get more info about what you need and where it can help you, feel free to joint our Control WG meeting this Wednesday, 2023-10-04T17:00:00Z→2023-10-04T18:00:00Z. (Meeting is every second Wednesday, but on 18th will be skipped because of ROSCon Workshop we have)

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**Author:** ![system](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/b/6/b607ee3cc8e908b1b613bd74a683d749fea635a1.svg) [@system](https://discourse.openrobotics.org/u/system)\
**Post date:** [October 30, 2023, 6:40am UTC](https://discourse.openrobotics.org/t/ros2-and-orocos-integration/33719/6 "2023-10-30T06:40:35Z")

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