During the last 6 months, a lot of work has been done — popular robot framework OROCOS have been ported to WrmOS and architecture SPARC. This port is called w4orocos. Now project published on github. Also started 2 new projects: 1) w4ros — port robot framework ROS to WrmOS; 2) wrmbot — robot manipulator. These projects will be published as soon as possible.

w4orocos is external WrmOS project that contains OROCOS framework and demonstration application. w4orocos allows to run demo-application on WrmOS and on local host (GNU Linux). This article describe how to build and run w4orocos project.

w4linux is external WrmOS project that contains paravirtualized Linux kernel and busybox userspace environment. It allows combine real-time part of project (for example Machine Control) and wealth of software that provides Linux (for example drivers, web services, communications). This article describe how to build and run w4linux project.

The best way to learn WrmOS is to use it. So, this article provide step-by-step manual how to build and run your own project Hello World. At first we will build Hello project from WrmOS examples. Then we will create new external project.

WrmOS projects my be built by any toolchain based on GCC. Using toolchain is specifying in project configuration file. Since WrmOS is designed for realtime embedded projects, this article describes how to get cross-platform toolchains.