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The Open Real-Time Ethernet (ORTE) is an open source implementation of
Real-Time Publish-Subscribe (RTPS) communication protocol. RTPS is new
application layer protocol targeted to real-time communication area,
which is build on the top of standard UDP stack. Since there are many
TCP/IP stack implementations under many operating systems and RTPS
protocol does not have any other special HW/SW requirements, it should
be easily ported to many HW/SW target platforms. Because it uses only
UDP protocol, it retains control of timing and reliability.

## News

* 2015-01-30 We setup a [buildbot instance](http://compile.felk.cvut.cz:8011/waterfall).
* 2013-10-28 [ORTE 0.3.4 released](https://sourceforge.net/projects/orte/files/orte-0.3.4/).
  It features Android support.
* 2013-10-05 We are preparing a new release that will feature Android
  support. Stay tuned and/or test the version from our
  [git repository](http://sourceforge.net/p/orte/orte/ci/master/tree/).
* 2012-08-15
  [ORTE 0.3.3 released](https://sourceforge.net/projects/orte/files/orte-0.3.3/).
  This is mostly a bugfix release.

## Documents

* [[ORTE manual|orteman.pdf]]
* [[ORTE conference paper (2008)|rtn08_orte.pdf]]
* [[ORTE for Android paper (RTLWS 2013)|rtlws2013-orte-android.pdf]] ([[slides|rtlws2013-orte-android-slides.pdf]])
  
  Specifications

* [Data-Distribution Service for Real-Time Systems (DDS) standard](http://www.omg.org/technology/documents/formal/data_distribution.htm) DDS version 1.2. Latest version adopted in January 2007.
* [DDS Interoperability Wire Protocol standard](http://www.omg.org/cgi-bin/doc?ptc/2006-08-02)
* [[RTPS - Real Time Publish-Subscribe|rtps1.2.pdf]] RTPS Wire
  Protocol Specification, version: 1.17
  
## Download

ORTE can be downloaded from
[a project page at SourceForge.net](https://sourceforge.net/projects/orte/files/).

Note that [old releases](http://sourceforge.net/project/showfiles.php?group_id=51629&package_id=108732) are located elsewhere.

## Support

ORTE is collectively maintained by Michal Sojka, Pavel Píša and Petr
Smolík. The maintainers can be reached via email at
<orte@rtime.felk.cvut.cz>.

## Links

Links to ORTE related projects:

* ORTE was developed at
  [Czech Technical University in Prague](http://rtime.felk.cvut.cz).

* [OpenDDS](http://www.opendds.org)

  OpenDDS is an open-source C++ implementation of the Object
  Management Group's specification "Data Distribution Service for
  Real-time Systems". OpenDDS is built on the ACE (ADAPTIVE
  Communication Environment) abstraction layer to provide platform
  portability. OpenDDS also leverages capabilities of TAO (The ACE
  Orb), such as its IDL compiler and as the basis of the OpenDDS DCPS
  Information Repository (DCPSInfoRepo).

* JacORB DDS

  The distribution provides an open-source Java-based DDS-DCPS
  implementation. The purpose of this implementation is pedagogical
  and demonstrations
  <http://www-adele.imag.fr/users/Didier.Donsez/dev/dds/readme.html>.

* [SQLbusRT](http://sourceforge.net/projects/sqlbusrt) is a software
  package which enables SQL in a publish subscribe environment with
  real time provisions. The software package finds it usage in:

  * Real time measuring environments (data acquisition),
  * Fast messaging systems,
  * Real time database in machine automation, and SCADA systems
  * Medical systems
  * Military battlesystems


* [PyPubSub](http://pypubsub.sourceforge.net/) (short for Python based
  Publish Subscribe) is a framework for implementing a publish
  subscribe mechanism into a Python application.

## References

We are aware of the following uses of ORTE:

* Imtech 

  * ORTE as core message exchange mechanism in an aerodynamic wind
    tunnel automation project, for one of the main windtunnel
    facilities of the world. (see <http://www.dnw.aero> for more
    info).

  * ORTE as message exchange mechanism for the Dutch government: in
    the automation facility for public water level management in the
    Netherlands. For an example, see
    [this document](http://www.neeltjejans.nl/pid5027).

* [Flamingos](http://flamingos.felk.cvut.cz/) and
  [CTU Dragons](http://rtime.felk.cvut.cz/dragons/en/) Eurobot teams

  A group of university staffs and students, who are interested in
  robotics and control engineering. Their objective is to design and
  develop robots for various competitions.

  <img src="robot-recycling.png" />

* Network Vehicle Systems -- [Paper](http://www.dcc.fc.up.pt/~edrdo/papers/mvs06.pdf)

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