Kai at 2017-01-20T17:59:39

2017-01-20T17:59:39Z

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=== Introduction ===
Rock (http://rock-robotics.org) is based on the [[Orocos]] real-time communication framework and also adopts its toolchain and model for connectable components.
 
 

=== Installing on Ubuntu 16.04 ===
As of December 2016, there is no painless installation path for Ubuntu 16.04. Here is what I found out so far.
----
Create a folder in which the Rock source code is going to live. Then fetch the boostrap script and run it.
<pre class="terminal">
wget http://www.rock-robotics.org/master/bootstrap.sh
sh bootstrap.sh
</pre>
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When asked which branch to use, choose the ''master'' branch. The current ''stable'' branch does not truly support Ubuntu 16.04, which uses the ''xenial'' repository, because the repository packages that the bootstrap script tries to install are obsolete.
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When asked which prepackaged software autoproj should install automatically, I chose ''none'' and let the script run into dependency errors to find out what those are. Make sure the necessary environment variables are set before re-running the bootstrap script.
 
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===== Ruby gems =====
Make sure that the environment variable GEM_HOME points to the ''.gems'' subdirectory within the Rock root directory. Then install the gems ''autobuild'' and ''autoproj''.
<pre class="terminal">
source env.sh
gem install --no-user-install --no-format-executable --no-rdoc --no-ri autobuild -v '~>1.9.0'
gem install --no-user-install --no-format-executable --no-rdoc --no-ri autoproj -v '~>1.13.0'
</pre>
There are newer versions of autoproj and autobuild but, as of this writing, they are not compatible with Rock master.
 
 

===== Python =====
The bootstrap script will create an entry in env.sh which sets ''PYTHONUSERBASE'' to the ''.pip'' subdirectory within the Rock root directory. This will cause all python modules installed by the bootstrap script to be installed under that subdirectory.
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When asked which CORBA implementation RTT should use, choose the default, ''omniorb''.
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I had a problem getting the Ruby gem ''rice'' installed. Turns out you need to run the install command for ''rice'' as root and it will be installed in the central gems repository instead of the Rock gems repo.
<pre class="terminal">
sudo /usr/bin/ruby2.3 -S gem2.3 install --no-user-install --no-format-executable --no-rdoc --no-ri rice
</pre>
After ''rice'' is installed continue building with
<pre class="terminal">
source env.sh; autoproj build
</pre>
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The build of orogen fails if a version of GCC other than 4.9 is installed. This is due to the choice of GCCXML as xml loader. Edit autoproj/init.rb and append the line
<pre class="code">
Autoproj.env_set 'TYPELIB_CXX_LOADER', 'castxml'
</pre>
in order to select ''castxml'' instead. Note that ''autoproj/init.rb'' is only created when ''sh bootstrap.sh'' has been called before.
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If you encounter the linkage error "''cannot find -lippicv''" then make sure [[OpenCV]] has been built with the cmake option ''-DWITH_IPP=ON'' such that the third-party static library ''libippicv.a'' is installed and linked against. The default location is ''/usr/local/share/OpenCV/3rdparty/lib/''.
<pre class="code">
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/share/OpenCV/3rdparty/lib
</pre>
Also edit ''perception/frame_helper/CMakeLists.txt'' to add the same library path
<pre class="code">
LINK_DIRECTORIES( ${LINK_DIRECTORIES} /usr/local/share/OpenCV/3rdparty/lib )
</pre>
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Start a clean build by removing the autoproj folder and running the boostrap script:
<pre class="terminal">
rm -rf autoproj
sh bootstrap.sh
</pre>
After bootstrapping new builds are started by
<pre class="terminal">
autoproj build
</pre>

Rock - Revision history

Kai at 2017-01-20T17:59:39