- European Robotics Forum 2011 Workshop on the Orocos Toolchain
- European Robotics Forum 2012: workshops
- Geometric relations semantics
- KDL wiki
- Kuka LBR user group
- Links of Orocos components
- OCL wiki
- RTT wiki
- Wiki for site admins
- iTaSC wiki
Quick Start on Linux
This page explains how to install the Orocos Toolchain from the public repositories using a script. ROS-users might want to take a look at the orocos_toolchain stack and the rtt_ros_integration stack.
Table of Contents
Installation: the easy way (Linux)
- Make sure that the Ruby interpreter (>=1.8.7) is installed on your machine
- Create and "cd" into the directory in which you want to install the toolchain
- Save the Toolchain-2.6 bootstrap.sh script in the folder you just created
- In a console, run
sh bootstrap.sh. This installs the toolchain-2.6 branch (latest fixes, stable).
- Important: as the build tool tells you, you **must** load the generated env.sh script at the end of the build !!!
- source it in your current console (source ./env.sh)
- also, add it to your .bashrc (append ". /path/to/the/directory/env.sh" -- without the quotes -- at the end of your .bashrc)
cd $HOME mkdir orocos cd orocos mkdir orocos-toolchain cd orocos-toolchain wget -O bootstrap-2.6.sh http://gitorious.org/orocos-toolchain/build/raw/toolchain-2.6:bootstrap.sh sh bootstrap.sh source env.sh
Tweaking build and install options can be done by modifying autoproj/config.yml. You must read the README and the Autoproj Manual in order to understand how to configure autoproj. See also the very short introduction on Using Autoproj.
Testing the installation
When the script finishes, try some Orocos toolchain commands (installed by default in 'install/bin'):
typegen deployer-gnulinux ctaskbrowser
Maintaining the Toolchain uptodate
After some time, you can get updates by going into the root folder and do
# Updates to latest fixes of release branch: autoproj update # Builds the toolchain autoproj build
You might have to reload the env.sh script after that as well. Simply open a new console. See also Using Autoproj.
Installation: from zip/bz2/gz files
Download the archive from the toolchain homepage. Unpack it, it will create an orocos-toolchain-<version> directory. Next do:
cd $HOME mkdir orocos cd orocos tar -xjvf /path/to/orocos-toolchain-<version>.tar.bz2 cd orocos-toolchain-<version> ./bootstrap_toolchain source ./env.sh autoproj build
- The first command, bootstrap_toolchain, is required to setup the autoproj environment.
- The second command sets the environment for you
- The third command builds the complete toolchain and installs it in the install/ directory. set the CMAKE_INSTALL_PREFIX to change this.