- 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 v1.x wiki
- RTT v1.x wiki
- Toolchain v2.x
- Wiki for site admins
- iTaSC wiki
Using Eclipse and Orocos
Table of Contents
.. work in progress ..
This page describes how you can configure Eclipse in order to write Orocos applications.
ImportantFirst of all, download and install the latest Eclipse version from http://www.eclipse.org/downloads with the 'CDT' plugin (C/C++ Development Toolkit).
Don't continue if you have an Eclipse version older than Helios (3.6).
Eclipse is a great tool, but some Linux systems are not well prepared to use it. Follow these instructions carefully to get the most out of it.
Is Java setup correctly (Linux)?This is a major issue. Do not use 'gij'/'kaffe'/... java implementation on Linux. You must use the Sun HotSpot(TM) OR a recent OpenJDK Runtime Environment implementation. You can check this by doing:
java -version java version "1.6.0_10" Java(TM) SE Runtime Environment (build 1.6.0_10-b33) Java HotSpot(TM) 64-Bit Server VM (build 11.0-b15, mixed mode)
java -version java version "1.6.0_0" OpenJDK Runtime Environment (IcedTea6 1.6.1) (6b16-1.6.1-3ubuntu3) OpenJDK 64-Bit Server VM (build 14.0-b16, mixed mode)
Note that you should not see any text saying 'gij' or 'kaffe',... Ubuntu/Debian users can install Sun java by doing:
sudo aptitude install sun-java6-jre sudo update-alternatives --config java ... select '/usr/lib/jvm/java-6-sun/jre/bin/java'
In case of instability, or misbehaving windows/buttons. Try to use the Sun (= Oracle now) version. But also google for the export GDK_NATIVE_WINDOWS=1 solution in case you use Eclipse before Helios and a 2009 or newer Linux distro.
Extra stuff for your happinessAfter you installed Eclipse and Java, you need to configure additionally:
- Download and unzip the Rinzo XML editor plug-in version 0.6.0 or later and put only the ar.com.tadp.xml.rinzo.core jar file in eclipse/dropins. This plug-in allows you to have syntax highlighting when editing XML files. Add the .cpf extension to your project's 'File Associations' and let it point to the Rinzo editor. NOTE: Eclipse has an own XML Editor plugin that you can install instead.
- Add the Eclipse CORBA Plugin in case you need to edit IDL files. The update site is http://eclipsecorba.sourceforge.net/update
- Add the CMake Editor Plugin in case you need to edit cmake files. The update site is http://cmakeed.sourceforge.net/updates/
- Add the .ops and .osd Orocos scripting file extensions to the 'File Associations' and let them open in the C++ editor, this adds some basic highlighting and indentation features.
- Add include paths of your project to /usr/include or /usr/local/include or /usr/local/orocos/include such that the Eclipse Indexer can find the Orocos C++ headers and offer coding assistance. (In case you are developing the RTT itself, add orocos-rtt/src, orocos-rtt/build/src and orocos-rtt/src/os to your include paths, assuming you created a build directory 'build'.)
- Make sure that hovering feature is on in such that you can see if the Indexer understands your C++ code.
If you're changing Orocos code, also download and enable the Eclipse indentation file attached to this post and Import it in the 'Coding Style' tab of your project Preferences.
Eclipse and GitPeter Soetens has a git repository on http://www.github.com/psoetens . You can check it out using Eclipse with the Egit/jgit plugin. Instructions can be found on this github page. Egit runs on all Java platforms (no dependency on Linux git). In order to install Egit, add
http://download.eclipse.org/egit/updatesto your update sites of Eclipse (Help -> Software updates...)
If you have an existing clone (checked out with plain old git), you can 'import' it by first importing the git repository directory as a project and then right click the project -> Team -> Share Project Follow the dialogs. There's some confusion with what to type in the location box. In older versions, you'd need to type
file:///path/to/repositoryNote the three ///
Eclipse and SVNThe official Orocos repository is on http://svn.mech.kuleuven.be/repos/orocos (WebSVN link: http://svn.mech.kuleuven.be/websvn/orocos ) You can use Subclipse (http://subclipse.tigris.org) and add
http://subclipse.tigris.org/update_1.4.xto your updates sites of Eclipse (Help -> Software updates...)
If you have an existing checkout, you can 'import' it by first importing the checkout directory as a project and then right click the project -> Team -> Share Project