From b59cb8f08f46c3d182958d0fee20d24af3f90d5d Mon Sep 17 00:00:00 2001
From: watts <benjamin.watts@psi.ch>
Date: Wed, 19 Jul 2023 15:05:49 +0200
Subject: [PATCH] Add Orocos installation commands

---
 Setup-Computer-Debian-11.md | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/Setup-Computer-Debian-11.md b/Setup-Computer-Debian-11.md
index e81bfe9..6ca9de0 100644
--- a/Setup-Computer-Debian-11.md
+++ b/Setup-Computer-Debian-11.md
@@ -178,8 +178,11 @@ make  menuconfig
 sudo make install
 ```
 
-- Install Orchestra
+- Install either Orchestra or Orocos
 
+Orchestra is no longer maintained and so Orocos is the new, preferred choice
+
+For Orchestra:
 ```
 cd ~/BaseSystem
 tar xfvz ../work/stxm/SystemInstall/Orchestra-master.tar.gz
@@ -208,6 +211,13 @@ sudo ln -s ../init.d/OrchestraRTOS S90OrchestraRTOS
 sudo ln -s ../init.d/OrchestraAutoRun S92OrchestraAutoRun
 ```
 
+For Orocos:
+```
+git clone --recursive https://github.com/orocos-toolchain/orocos_toolchain.git
+cd orocos_toolchain
+./configure --prefix=/home/control/orocos
+```
+
 - Load Comedi driver and configure cards 
 
 ```