As of the ROS electric release, the orocos_toolchain_ros stack is split up in 5 different stacks:
orocos_toolchain: containing the bare orocos packages
rtt_ros_integration (now a stack!): containing all orocos-ros integration code
rtt_geometry: containing integration code for working with orocos and tf
rtt_ros_comm: RTT typekits for the ros_comm messages
rtt_common_msgs: RTT typekits for the common_msgs messages
With Ubuntu
sudo apt-get install ros-fuerte-orocos-toolchain ros-fuerte-rtt-ros-integration ros-fuerte-rtt-geometry ros-fuerte-rtt-ros-comm ros-fuerte-rtt-common-msgs
Don't forget to add source orocos_toolchain/env.sh to your environment when you want to use OROCOS packages.
With rosinstall
If you do not already have a ros workspace, create one:
export ROS_WORKSPACE=~/path/to/workspace mkdir $ROS_WORKSPACE cd $ROS_WORKSPACE rosws init . /opt/ros/fuerte
Navigate to your ros workspace, and add the orocos sources:
roscd rosws set -y orocos/orocos_toolchain --git git://gitorious.org/orocos-toolchain/orocos_toolchain.git -v fuerte rosws set -y orocos/rtt_ros_integration --git http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git -v fuerte rosws set -y orocos/rtt_ros_comm --git http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git -v fuerte rosws set -y orocos/rtt_common_msgs --git http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git -v fuerte rosws set -y orocos/rtt_geometry --git http://git.mech.kuleuven.be/robotics/rtt_geometry.git -v fuerte rosws update rosws regenerate source setup.sh
Build the packages:
roscd orocos_toolchain source env.sh rosdep install orogen rosmake orocos_toolchain rtt_ros_integration rtt_ros_comm rtt_common_msgs rtt_geometry
Don't forget to add source orocos_toolchain/env.sh to your environment when you want to use OROCOS packages.
Manual Installation
Compiling from source
mkdir $HOME/rosstacks echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:\$HOME/rosstacks" >> ~/.bashrc export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$HOME/rosstacks cd $HOME/rosstacks
Ubuntu 12.04 (Precise)
sudo apt-get install libreadline-dev omniorb omniidl omniorb-nameserver libomniorb4-1 libomniorb4-dev libomnithread3-dev libomnithread3c2 gccxml antlr libantlr-dev libxslt1-dev liblua5.1-0-dev ruby1.8-dev libruby1.8 rubygems1.8
git clone --recursive -b fuerte git://gitorious.org/orocos-toolchain/orocos_toolchain.git git clone -b fuerte http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git git clone -b fuerte http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git git clone -b fuerte http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git git clone -b fuerte http://git.mech.kuleuven.be/robotics/rtt_geometry.git roscd orocos_toolchain # Checkout the fuerte branch for ROS Fuerte: git checkout fuerte git submodule init git submodule update source env.sh rosmake orocos_toolchain rtt_ros_integration rtt_ros_comm rtt_common_msgs rtt_geometry
Debian Squeeze
sudo apt-get install libreadline-dev omniorb omniidl omniorb-nameserver libomniorb4-1 libomniorb4-dev libomnithread3-dev libomnithread3c2 gccxml antlr libantlr-dev libxslt1-dev liblua5.1-0-dev ruby1.8-dev libruby1.8 rubygems1.8 libcppunit-dev sip4
git clone --recursive git://gitorious.org/orocos-toolchain/orocos_toolchain.git git clone http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git git clone http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git git clone http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git git clone http://git.mech.kuleuven.be/robotics/rtt_geometry.git roscd orocos_toolchain git submodule init git submodule update source env.sh
roscd ocl nano manifest.xml
Edit manifest.xml and add following line:
<depend package="roslib"/>
after line 12.
roscd ocl nano CMakeLists.txt
Edit CMakeLists.txt and uncomment following lines (123-126):
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) rosbuild_init() rosbuild_find_ros_package( rtt ) set( RTT_HINTS HINTS ${rtt_PACKAGE_PATH}/install )
Now orocos_toolchain_ros can be compiled:
rosmake orocos_toolchain rtt_ros_integration rtt_ros_comm rtt_common_msgs rtt_geometry