3 The Open Real-Time Ethernet (ORTE) is an open source implementation of
4 Real-Time Publish-Subscribe (RTPS) communication protocol. RTPS is an
5 application layer protocol targeted at real-time communication area,
6 which is built on the top of standard UDP stack. Because it uses only
7 the UDP protocol, it retains control of timing and reliability. Since
8 there are many TCP/IP stack implementations under many operating
9 systems and RTPS protocol does not have any other special HW/SW
10 requirements, it should be easily ported to many HW/SW target
11 platforms. ORTE currently runs on Linux, FreeBSD, Windows, Android and
16 * 2015-01-30 We setup a [buildbot instance](http://compile.felk.cvut.cz:8011/waterfall).
17 * 2013-10-28 [ORTE 0.3.4 released](https://sourceforge.net/projects/orte/files/orte-0.3.4/).
18 It features Android support.
19 * 2013-10-05 We are preparing a new release that will feature Android
20 support. Stay tuned and/or test the version from our
21 [git repository](http://sourceforge.net/p/orte/orte/ci/master/tree/).
23 [ORTE 0.3.3 released](https://sourceforge.net/projects/orte/files/orte-0.3.3/).
24 This is mostly a bugfix release.
28 * [[ORTE manual|orteman.pdf]]
29 * [[ORTE conference paper (2008)|rtn08_orte.pdf]]
30 * [[ORTE for Android paper (RTLWS 2013)|rtlws2013-orte-android.pdf]] ([[slides|rtlws2013-orte-android-slides.pdf]])
34 * [Data-Distribution Service (DDS) related standards](http://www.omg.org/spec/#DDS)
35 – ORTE implements the RTPS protocol. It offers its own API, not the
37 * [The Real-time Publish-Subscribe Wire Protocol (DDSI-RTPS)](http://www.omg.org/spec/DDSI-RTPS/)
38 – this is a newer version of the protocol implemented by ORTE.
39 * [[Real Time Publish-Subscribe (RTPS) 1.0|rtps1.2.pdf]] – ORTE
40 implements this version of the protocol.
44 ORTE can be downloaded from
45 [a project page at SourceForge.net](https://sourceforge.net/projects/orte/files/).
47 Development happens mainly in topic branches of
48 [our git repository](https://rtime.felk.cvut.cz/gitweb/orte.git/heads),
49 which is mirrored to [Github](https://github.com/CTU-IIG/orte).
51 Note that [old releases](http://sourceforge.net/project/showfiles.php?group_id=51629&package_id=108732) are located elsewhere.
55 ORTE is collectively maintained by Michal Sojka, Pavel Píša and Petr
56 Smolík. You can submit an
57 [issue on Github](https://github.com/CTU-IIG/orte/issues) or contact
58 the maintainers via email at <orte@rtime.felk.cvut.cz>.
62 Links to ORTE related projects:
64 * ORTE was developed at
65 [Czech Technical University in Prague](http://rtime.felk.cvut.cz).
67 * [OpenDDS](http://www.opendds.org)
69 OpenDDS is an open-source C++ implementation of the Object
70 Management Group's specification "Data Distribution Service for
71 Real-time Systems". OpenDDS is built on the ACE (ADAPTIVE
72 Communication Environment) abstraction layer to provide platform
73 portability. OpenDDS also leverages capabilities of TAO (The ACE
74 Orb), such as its IDL compiler and as the basis of the OpenDDS DCPS
75 Information Repository (DCPSInfoRepo).
79 The distribution provides an open-source Java-based DDS-DCPS
80 implementation. The purpose of this implementation is pedagogical
82 <http://www-adele.imag.fr/users/Didier.Donsez/dev/dds/readme.html>.
84 * [SQLbusRT](http://sourceforge.net/projects/sqlbusrt) is a software
85 package which enables SQL in a publish subscribe environment with
86 real time provisions. The software package finds it usage in:
88 * Real time measuring environments (data acquisition),
89 * Fast messaging systems,
90 * Real time database in machine automation, and SCADA systems
92 * Military battlesystems
95 * [PyPubSub](http://pypubsub.sourceforge.net/) (short for Python based
96 Publish Subscribe) is a framework for implementing a publish
97 subscribe mechanism into a Python application.
101 We are aware of the following uses of ORTE:
105 * ORTE as core message exchange mechanism in an aerodynamic wind
106 tunnel automation project, for one of the main windtunnel
107 facilities of the world. (see <http://www.dnw.aero> for more
110 * ORTE as message exchange mechanism for the Dutch government: in
111 the automation facility for public water level management in the
112 Netherlands. For an example, see
113 [this document](http://www.neeltjejans.nl/pid5027).
115 * [Flamingos](http://flamingos.felk.cvut.cz/) and
116 [CTU Dragons](http://rtime.felk.cvut.cz/dragons/en/) Eurobot teams
118 A group of university staffs and students, who are interested in
119 robotics and control engineering. Their objective is to design and
120 develop robots for various competitions.
122 <img src="robot-recycling.png" />
124 * Network Vehicle Systems -- [Paper](http://www.dcc.fc.up.pt/~edrdo/papers/mvs06.pdf)
127 This site is powered by [[ikiwiki]].
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