Installation
This stack packages are only available for ROS Electric, Fuerte, Groovy, and Hydro. For older ROS releases, see the orocos_toolchain_ros stack. For newer releases, follow the instructions to build from source.
Show EOL distros:
Ubuntu packages
sudo aptitude install ros-electric-orocos-toolchain
Ubuntu packages
sudo aptitude install ros-fuerte-orocos-toolchain
Ubuntu packages
sudo aptitude install ros-groovy-orocos-toolchain
Ubuntu packages
sudo aptitude install ros-hydro-orocos-toolchain
And add
source `rosstack find orocos_toolchain`/env.sh
to your .bashrc file.
Compiling from source
Create a catkin workspace
mkdir ~/orocos_ws cd ~/orocos_ws catkin_init_workspace
Clone the repository using
git clone --recursive -b toolchain-2.7 http://git.gitorious.org/orocos-toolchain/orocos_toolchain.git src
Temporarily add the src directory to your ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/orocos_ws/src
Clone the repository using
git clone --recursive -b electric http://git.gitorious.org/orocos-toolchain/orocos_toolchain.git
Make sure to add the orocos_toolchain stack to your ROS_PACKAGE_PATH
Clone the repository using
git clone --recursive -b fuerte http://git.gitorious.org/orocos-toolchain/orocos_toolchain.git
Make sure to add the orocos_toolchain stack to your ROS_PACKAGE_PATH
Clone the repository using
git clone --recursive -b groovy http://git.gitorious.org/orocos-toolchain/orocos_toolchain.git
Make sure to add the orocos_toolchain stack to your ROS_PACKAGE_PATH
Clone the repository using
git clone --recursive -b toolchain-2.7 http://git.gitorious.org/orocos-toolchain/orocos_toolchain.git
Make sure to add the orocos_toolchain stack to your ROS_PACKAGE_PATH
Manually resolve recursive dependencies
apt-get install rubygems1.8 libxslt1-dev
apt-get install ruby ruby-dev gem install rake hoe
Install any missing dependencies
rosdep install orocos_toolchain
Run the env.sh script and build
source src/env.sh catkin_make_isolated --install
Add this line to your ~/.bashrc file to run the setup script for our workspace:
source ~/orocos_ws/install_isolated/setup.bash
Run the env.sh script and build the stack
source orocos_toolchain/env.sh rosmake orocos_toolchain
For later use it might be handy to source the env.sh script in your .bashrc.
Documentation
External documentation available at http://orocos.org/toolchain
ROS Integration
The Orocos Toolchain has seamless integration with ROS using the rtt_ros_integration stack and its sister stacks rtt_geometry, rtt_common_msgs and rtt_ros_comm.
Report a Bug
Use the Orocos bugzilla page to report bugs