Kai: /* Introduction */

2018-04-20T21:39:33Z

Introduction

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=== Introduction ===
 
Orocos (http://orocos.org) - the Open Robot Control Software - is a software framework intended for use in robots (or computer-controlled machines in general) and provides a real-time messaging service between the networked components of a robot (e.g., sensors and actuators), a library of 'Orocos components' for various hardware, a kinematics library for simulation of the physical world of the robot, as well as a library for performing common Bayesian inference calculations.
 
 
The source code repository is [https://github.com/orocos-toolchain hosted by GitHub].
 
 
The latest documentation is [https://people.mech.kuleuven.be/~orocos/pub/stable/documentation/rtt/v2.7.x/doc-xml/orocos-components-manual.html hosted by the University of Leuven].
 
 

=== Building the Toolchain as Standalone Libraries ===
 
==== RTT ====
First of all, download the latest version of Orocos RTT from ''https://github.com/orocos-toolchain/rtt.git''
 
 
Then install Xerces and Doxygen if you haven't already:
<pre class="terminal">
sudo apt install libxerces-c-dev doxygen
</pre>
 
===== Boost =====
For robo.fish software we use a specific version of [[Boost]]. Therefore the CMake build scripts of RTT need to be modified to pick up this version. Open the file '''check_depend.cmake''' in the '''config''' subfolder of the RTT root folder and replace
<pre class="code">
find_package(Boost 1.38 COMPONENTS filesystem system unit_test_framework thread serialization)

# Look for boost
if ( PLUGINS_ENABLE )
if (NOT Boost_FILESYSTEM_FOUND OR NOT Boost_SYSTEM_FOUND)
message(SEND_ERROR "Plugins require Boost Filesystem and System libraries, but they were not found.")
endif()
list(APPEND OROCOS-RTT_INCLUDE_DIRS ${Boost_FILESYSTEM_INCLUDE_DIRS} ${Boost_SYSTEM_INCLUDE_DIRS} ${Boost_SERIALIZATION_INCLUDE_DIRS})
list(APPEND OROCOS-RTT_LIBRARIES ${Boost_FILESYSTEM_LIBRARIES} ${Boost_SYSTEM_LIBRARIES} ${Boost_SERIALIZATION_LIBRARIES})
endif()
</pre>
with this
<pre class="code">
set (BOOST_ROOT "/usr/local/boost_1_67_0")
set (Boost_NO_SYSTEM_PATHS ON)
set (Boost_USE_MULTITHREADED ON)
set (Boost_USE_STATIC_LIBS OFF)
set (Boost_USE_STATIC_RUNTIME OFF)
set (BOOST_ALL_DYN_LINK ON)
find_package(Boost 1.67 COMPONENTS filesystem system unit_test_framework thread serialization)

# Look for boost
if ( PLUGINS_ENABLE )
if (NOT Boost_FILESYSTEM_FOUND OR NOT Boost_SYSTEM_FOUND)
message(SEND_ERROR "Plugins require Boost Filesystem and System libraries, but they were not found.")
endif()
list(APPEND OROCOS-RTT_INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
list(APPEND OROCOS-RTT_LIBRARIES ${Boost_FILESYSTEM_LIBRARIES} ${Boost_SYSTEM_LIBRARIES} ${Boost_SERIALIZATION_LIBRARIES})
endif()
</pre>
 
After configuring Boost, continue by creating the '''build''' subfolder and running ''cmake'' from there:
<pre class="terminal">
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr/local/orocos -DCMAKE_CXX_FLAGS="-std=c++11" ..
</pre>
where you can enable compilation for C++11 and set the installation folder prefix, which I assume to be '''/usr/local/orocos'''.
 
 
Then build and install the libraries via
<pre class="terminal">
sudo make -j4 install
</pre>

Orocos - Revision history

Kai: /* Introduction */