Version 23 (modified by foehst, 17 months ago) (diff)


New host fingerprints since August 2018 gets its SSL certificates from Let's Encrypt. Therefore, you might get error messages during mercurial operations. Just remove any manually added hostfingerprint from e.g. your .hgrc file or system configuration, as it can now be verified online. Our Debian packages added a fingerprint file in /etc/mercural/hgrc.d. The next update will remove this file.

Current stable release: 14.08

A second stable version of Finroc® was released. Only bugfixes will be applied to this version while API and data formats remain unchanged.

This release includes the core as well as central plugins and tools. Further components are available on the development branch and will be added in future releases.

Finroc 14.08 can be compiled on e.g. Ubuntu 14.04 LTS and newer.

Old stable releases

13.10: supported until end of August 2015, requires GCC >= 4.6 and therefore can be compiled on e.g. Ubuntu 12.04 LTS and newer.

Support for old stable releases will be provided for one year after release of its successor.

Finroc - A framework for intelligent robot control

Finroc® is a modular C++/Java framework for robot control systems. It has been developed at the Robotics Research Lab of TU Kaiserslautern, Germany since 2008. In 2011 the four main authors founded the Finroc GbR - a company constituted under civil law - to make use of their copyright and release the software using a dual-licensing model. Additionally to a free GPL version, a commercial license is provided to be applied in proprietary products.

Design philosophy

Frameworks have fundamental impact on software quality of robot control systems - as well as development effort. Taking many existing approaches into account, the design of Finroc® evolved around the question: What can be done in a framework in order to support or even guarantee relevant quality attributes of robot control systems? It is hardly possible to implement all the identified features at once. Thus, the initial design focused on areas that are hard to add or change later. The main developers used MCA2 before developing Finroc® and learned to appreciate many of its qualities. Thus, application style in Finroc® is similar.

Prominent features

  • Efficient (zero-copy), lock-free, real-time implementation
  • Scales up to thousands of components
  • Can be run without an operating system
  • Intra-process runtime construction
  • Slim and highly modular framework core (see below - or our IEEE IRC 2017 paper for the master plan)
  • Separate, native C++11 and Java versions

Finroc's Modular Core



Repositories with hundreds of robotic algorithms and components are developed and maintained independently at both the RRLab and Robot Makers (they are not available on

Robot Makers provide professional Finroc services (support; consulting; custom algorithm, component, and application development). The RRLab develops algorithms, components, and prototypes in the scope of research projects.




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