New documentation, installation and setup scripts (work in progress) #13
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| build/ | ||
| install/ |
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| # The OROCOS Toolchain Installation Guide | ||
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| This document explains how the [Orocos](http://www.orocos.org/) toolchain can be installed and configured. | ||
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| ## Table of Contents | ||
| <!-- TOC depthFrom:2 depthTo:6 withLinks:1 updateOnSave:1 orderedList:0 --> | ||
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| - [Table of Contents](#table-of-contents) | ||
| - [Introduction](#introduction) | ||
| - [Supported platforms (targets)](#supported-platforms-targets) | ||
| - [The versioning scheme](#the-versioning-scheme) | ||
| - [Dependencies on other libraries](#dependencies-on-other-libraries) | ||
| - [Binary packages](#binary-packages) | ||
| - [Ubuntu and Debian](#ubuntu-and-debian) | ||
| - [Install from source](#install-from-source) | ||
| - [Build tools and dependencies](#build-tools-and-dependencies) | ||
| - [Debian/Ubuntu](#debianubuntu) | ||
| - [Other Linux distributions](#other-linux-distributions) | ||
| - [MacOS X](#macos-x) | ||
| - [Windows](#windows) | ||
| - [Quick start](#quick-start) | ||
| - [Download the sources](#download-the-sources) | ||
| - [Download source archive](#download-source-archive) | ||
| - [Clone from GitHub](#clone-from-github) | ||
| - [3. Build and Install](#3-build-and-install) | ||
| - [Getting Started](#getting-started) | ||
| - [Cross Compiling Orocos](#cross-compiling-orocos) | ||
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| <!-- /TOC --> | ||
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| ## Introduction | ||
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| This sections explains the supported Orocos targets and the Orocos versioning scheme. | ||
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| ### Supported platforms (targets) | ||
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| Orocos was designed with portability in mind. Currently, we support RTAI/LXRT (http://www.rtai.org), GNU/Linux userspace, Xenomai (http://www.xenomai.org), Mac OS X (http://www.apple.com) and native Windows using Microsoft Visual Studio. So, you can first write your software as a normal Linux/Mac OS X program, using the framework for testing and debugging purposes in plain userspace (Linux/Mac OS X) and recompile later to a real-time target or MS Windows. | ||
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| ### The versioning scheme | ||
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| A particular version is represented by three numbers separated by dots. For example: | ||
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| 2.8.1 : Release 2, Feature update 8, bug-fix revision 1. | ||
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| ### Dependencies on other libraries | ||
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| Before you install Orocos, verify that you have the following software installed on your platform: | ||
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| | Program / Library | Minimum Version | Description | | ||
| |---------------------------------|-------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| | ||
| | CMake | 2.8.3 (all platforms) | See resources on cmake.org for pre-compiled packages in case your distribution does not support this version | | ||
| | Boost C++ Library | 1.33.0 (1.40.0 recommended!) | Boost.org from version 1.33.0 on has a very efficient (time/space) lock-free smart pointer implementation which is used by Orocos. 1.36.0 has boost::intrusive which we require on Windows with MSVS. 1.40.0 has a shared_ptr implementation we require when building Service objects. | | ||
| | Boost C++ Test Library | 1.33.0 (During build only) | Boost.org test library ('unit_test_framework') is required if you build the RTT from source and ENABLE_TESTS=ON (default). The RTT libraries don't depend on this library, it is only used for building our unit tests. | | ||
| | Boost C++ Thread Library | 1.33.0 (Mac OS-X only) | Boost.org thread library is required on Mac OS-X. | | ||
| | Boost C++ Serialization Library | 1.37.0 | Boost.org serialization library is required for the type system and the MQueue transport. | | ||
| | GNU gcc / g++ Compilers | 3.4.0 (Linux/Cygwin/Mac OS X) | gcc.gnu.org Orocos builds with the GCC 4.x series as well. | | ||
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| | MSVS Compilers | 2005 | One can download the MS VisualStudio 2008 Express edition for free. | | ||
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| | Xerces C++ Parser | 2.1 (Optional) | Xerces website Versions 2.1 until 3.1 are known to work. If not found, an internal XML parser is used. | | ||
| | ACE & TAO | TAO 1.3 (Optional) | ACE & TAO website When you start your components in a networked environment, TAO can be used to set up communication between components. CORBA is used as a 'background' transport and is hidden for normal users. | | ||
| | Omniorb | 4 (Optional) | Omniorb website Omniorb is more robust and faster than TAO, but has less features. CORBA is used as a 'background' transport and is hidden for normal users. | | ||
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| All these packages are provided by most Linux distributions. In Mac OS X, you can install them easily using fink or macports. Take also a look on the Orocos.org RTT download page for the latest information. | ||
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| ## Binary packages | ||
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| ### Ubuntu and Debian | ||
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| The [Robot Operating System (ROS)](http://www.ros.org/) project provides binary packages for Ubuntu and Debian Jessie. See [REP 3 - Target Platforms](http://www.ros.org/reps/rep-0003.html) for a list of supported platforms. The dependencies of the Orocos core packages to other ROS packages are minimal. This is the recommended way to get started with the toolchain for Ubuntu and Debian users. | ||
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| Check out the [ROS Installation instructions](http://wiki.ros.org/ROS/Installation) for detailed instructions on how to install a ROS base system. Afterwards, the Orocos Toolchain can be installed with the command | ||
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| ``` | ||
| sudo apt-get install ros-<distro>-orocos-toolchain | ||
| ``` | ||
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| ## Install from source | ||
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| ### Build tools and dependencies | ||
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| #### Debian/Ubuntu | ||
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| Most dependencies mentioned above can be installed using the APT package management system: | ||
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| ``` | ||
| sudo apt-get install build-essential git cmake libboost-all-dev libxml-xpath-perl | ||
| ``` | ||
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| *Optional:* In case you want to build RTT with CORBA support, you also need to install the OmniORB (recommended) or TAO development packages: | ||
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| ``` | ||
| sudo apt-get install omniorb omniidl omniorb-idl omniorb-nameserver libomniorb4-dev | ||
| ``` | ||
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| #### Other Linux distributions | ||
| *TODO* | ||
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| #### MacOS X | ||
| *TODO* | ||
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| #### Windows | ||
| *TODO* | ||
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| ### Quick start | ||
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| The [orocos_toolchain](https://github.com/orocos-toolchain/orocos_toolchain) repository contains a shell script which implements all of the following steps and is the recommended way to install the Orocos toolchain from source: | ||
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| For Linux: | ||
| ``` | ||
| mkdir -p ~/orocos-toolchain | ||
| cd ~/orocos-toolchain | ||
| wget https://raw.githubusercontent.com/orocos-toolchain/orocos_toolchain/master/install.sh | ||
| ./install.sh --help | ||
|
There was a problem hiding this comment. The downloaded script is not executable by default, so either we prepend this with There was a problem hiding this comment. Either that or prefix the script with Or shortcut that downloads and runs the script in a single command is: (motivated by https://get.docker.com/, we could create a similar alias as http://get.orocos.org/) |
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| ``` | ||
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| If you want to download or clone the sources manually and have full control over the build process, feel free to go o | ||
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| ### Download the sources | ||
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| #### Download source archive | ||
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| The latest released version of the toolchain can be downloaded from here: | ||
| http://www.orocos.org/orocos/toolchain | ||
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| Extract the archive into a source directory, e.g. `~/orocos-toolchain`: | ||
| ``` | ||
| mkdir -p ~/orocos-toolchain && cd ~/orocos-toolchain | ||
| wget http://www.orocos.org/stable/toolchain/v2.x.x/orocos-toolchain-2.x.x-src.tar.bz2 | ||
| tar xvjf orocos-toolchain-2.x.x-src.tar.bz2 | ||
| cd orocos-toolchain-* | ||
| ``` | ||
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| Note that the archive files provided by GitHub at https://github.com/orocos-toolchain/orocos_toolchain/releases will not work as the repository contains submodules, which are unfortunately not included in the files. | ||
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| #### Clone from GitHub | ||
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| If you want to use the latest development version or actively contribute to Orocos, it is recommended to clone the toolchain directly from GitHub: | ||
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| ``` | ||
| mkdir -p ~/orocos-toolchain && cd ~/orocos-toolchain | ||
| git clone --recursive https://github.com/orocos-toolchain/orocos_toolchain.git | ||
| cd orocos-toolchain | ||
| ``` | ||
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| In order to select a specific major and minor version of the toolchain, you can specify the branch to be cloned explicitly with the `-b` option, e.g.: | ||
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| ``` | ||
| mkdir -p ~/orocos-toolchain && cd ~/orocos-toolchain | ||
| git clone --recursive https://github.com/orocos-toolchain/orocos_toolchain.git -b toolchain-2.9 | ||
| cd orocos-toolchain | ||
| ``` | ||
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| The `--recursive` argument is required because the toolchain GIT repository uses submodules to manage the links to the individual source repositories. | ||
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| ### 3. Build and Install | ||
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| All toolchain packages rely on cmake as the underlying build tool, but every package has to be configured, build and installed in isolation. | ||
| Advanced users can invoke cmake and make directly or use [catkin](http://wiki.ros.org/catkin) or [catkin_tools](https://catkin-tools.readthedocs.io/en/latest/) as a build tool. | ||
| Otherwise it is recommended to use the `install.sh` script provided in the toolchain repository, which iterates over all toolchain packages in the right order and invokes cmake, make and make install within the `build/<package>` directory for each of them. | ||
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| ## Getting Started | ||
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| *to be copied from http://www.orocos.org/stable/documentation/rtt/v2.x/doc-xml/orocos-installation.html* | ||
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| ## Cross Compiling Orocos | ||
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| *to be copied from http://www.orocos.org/stable/documentation/rtt/v2.x/doc-xml/orocos-installation.html* | ||
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| # The OROCOS Toolchain | ||
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| The Open RObot COntrol Software ([Orocos](http://www.orocos.org/)) Toolchain is a bundle of multiple packages, which need to be build and installed separately. | ||
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| - [Orocos Real-Time Toolkit (rtt)](https://github.com/orocos-toolchain/rtt) - a component framework that allows us to write real-time components in C++ | ||
| - [Orocos Log4cpp (log4cpp)](https://github.com/orocos-toolchain/log4cpp) - | ||
| a patched version of the [Log4cpp](http://log4cpp.sourceforge.net/) library for flexible logging to files, syslog, IDSA and other destinations | ||
| - [Orocos Component Library (ocl)](https://github.com/orocos-toolchain/ocl) - the necessary components to start an application and interact with it at run-time | ||
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| Until version 2.8 [orogen](http://www.rock-robotics.org/stable/documentation/orogen/) and [typegen](http://www.rock-robotics.org/stable/documentation/orogen/), tools to generate ready-to-compile-and-run code from existing headers or component description files based on the Ruby language, have been an integral part of the Orocos Toolchain. For later versions we refer to the installation instructions of the [Rock - the Robot Construction Kit](http://www.rock-robotics.org/stable/index.html) project. | ||
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| You might also want to have a look at the following sister projects, which are out of the scope of this manual: | ||
| - [Orocos Kinematics Dynamics Library (KDL)](http://www.orocos.org/kdl) - an application independent framework for modeling and computation of kinematic chains | ||
| - [Orocos Bayesian Filtering Library (BFL)](http://www.orocos.org/bfl) - an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes' rule | ||
| - [Reduced Finite State Machine (rFSM)](https://orocos.github.io/rFSM/README.html) - a small and powerful statechart implementation in Lua | ||
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| ## Get Started? | ||
| Check out [INSTALL.md](INSTALL.md). |
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| #!/bin/sh | ||
| # | ||
| # The purpose of this script is to setup the environment for the Orocos Toolchain | ||
| # (like setup.sh) and execute a command. | ||
| # | ||
| # Usage: env.sh COMMANDS | ||
| # | ||
| # This file will be installed to CMAKE_INSTALL_PREFIX by cmake with the | ||
| # @-references replaced by the value of the respective cmake variable. | ||
| # | ||
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| if [ $# -eq 0 ] ; then | ||
| if [ -z "$BASH_SOURCE" -a -z "$_" ]; then | ||
| /bin/echo "Usage: env.sh COMMANDS" >&2 | ||
| exit 1 | ||
| fi | ||
| fi | ||
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| # find OROCOS installation folder from CMAKE_INSTALL_PREFIX or $0 | ||
| case "@CMAKE_INSTALL_PREFIX@" in | ||
| @*) ;; | ||
| *) OROCOS_INSTALL_PREFIX="@CMAKE_INSTALL_PREFIX@" ;; | ||
| esac | ||
| if [ -z "$OROCOS_INSTALL_PREFIX" ]; then | ||
| OROCOS_INSTALL_PREFIX=`dirname $0` | ||
| OROCOS_INSTALL_PREFIX=`cd ${OROCOS_INSTALL_PREFIX}; pwd` | ||
| fi | ||
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| # source setup.sh | ||
| if [ -f ${OROCOS_INSTALL_PREFIX}/setup.sh ]; then | ||
| . ${OROCOS_INSTALL_PREFIX}/setup.sh | ||
| elif [ -f ${OROCOS_INSTALL_PREFIX}/etc/orocos/setup.sh ]; then | ||
| . ${OROCOS_INSTALL_PREFIX}/etc/orocos/setup.sh | ||
| elif [ -f /etc/orocos/setup.sh ]; then | ||
| . /etc/orocos/setup.sh | ||
| else | ||
| echo "env.sh: could not find Orocos setup.sh script" >&2 | ||
| [ $# -eq 0 ] || exit 1 | ||
| fi | ||
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| # execute command | ||
| [ $# -eq 0 ] || exec "$@" |
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Update minimum Boost version to 1.40, check orocos-toolchain/rtt#199.