Requirements and installation guide ¶

Contents

Requirements and installation guide
- Requirements
- Installation options
  - Binaries
  - From source

Requirements ¶

The following table summarizes the requirements of the main parts of Orocos depending on the operating system where it will run.

Program / Library	Minimum Version
CMake	2.8 (all platforms)
GNU gcc / g++ compilers	4.3 or higher (Linux)
Boost C++ Library	1.40.0
Boost C++ Serialization Library	Required for the type system and the MQueue transport
Boost C++ Test Library	(Optional) For building the unit tests
ACE & TAO	(Optional) TAO can be used to set up communication between components in a networked environment.
Omniorb	(Optional) Omniorb is more robust and faster than TAO, but has less features.

Installation options ¶

Orocos libraries can be installed in multiple ways, depending on your system and the components required.

Binaries ¶

The easiest way to get Orocos running in a GNU/Linux server is installing the software via pre-compiled packages. There are two main options:

ROS debian packages: Debian packages are distributed within the ROS ecosystem. packages are available for Ubuntu. Install the orocos toolchain with
```
sudo apt-get install ros-${ROS_DISTRO}-orocos-toolchain
```
The ros integration metapackage may also be interesting for ROS users:
```
sudo apt-get install ros-${ROS_DISTRO}-rtt-ros-integration``
```
The bayesian filtering library can be installed using:
```
sudo apt-get install ros-${ROS_DISTRO}-bfl
```
The kinematics and dynamics library package can be installed using:
```
sudo apt-get install ros-${ROS_DISTRO}-orocos-kdl
```
And the python bindings:
```
sudo apt-get install ros-${ROS_DISTRO}-python-orocos-kdl
```
Docker: Docker images with Orocos preinstalled are distributed.

From source ¶

For the users that want to run Orocos in a different system or need a specific set of components, the installation can be done from sources. There are two main methods to build and install Orocos.

The above mentioned dependencies can be installed with apt:
apt install -y build-essential cmake libboost-all-dev libxml-xpath-perl libboost-all-dev pkg-config libxml2-dev ruby-dev
If you want to built RTT with Corba support, you will also need the OmniORB packages:
apt install omniorb omniidl omniorb-idl omniorb-nameserver libomniorb4-dev

Using CMake (default way):¶

Clone the source repo from github:

git clone --recursive git@github.com:orocos-toolchain/orocos_toolchain.git

Invoke the configure script:

./configure --prefix=<installation prefix> [<options>]

It’s just a wrapper around CMake and has the following options:

Available options:
  --prefix <prefix>        Installation prefix (-DCMAKE_INSTALL_PREFIX)
  --{en|dis}able-corba     Enable/Disable CORBA transport plugin (-DENABLE_CORBA)
  --omniorb                Select CORBA implementation OmniORB
  --tao                    Select CORBA implementation TAO

The install prefix defaults to /usr/local.

Compile and install using:

make install

Using ROS build tools (`catkin`)¶

Make sure you have ROS installed, see ROS installation instructions.

Create a workspace and clone the orocos toolchain:

mkdir -p ~/ws/underlay_isolated/src/orocos
cd ~/ws/underlay_isolated
git clone --recursive https://github.com/orocos-toolchain/orocos_toolchain.git src/orocos/orocos_toolchain

Compile using catkin_make_isolated, you can specify the install space and whether you want to enable CORBA or not:

catkin_make_isolated \
    --install \
    --install-space /opt/orocos/${ROS_DISTRO} \
    --cmake-args \
        -DBUILD_TESTING=OFF \
        -DCMAKE_BUILD_TYPE=Release \
        -DENABLE_CORBA=ON \
        -DCORBA_IMPLEMENTATION=OMNIORB \
        -DOROCOS_INSTALL_INTO_PREFIX_ROOT=ON \

To set up your ros and orocos environments:

source /opt/ros/${ROS_DISTRO}/setup.bash
source /opt/orocos/${ROS_DISTRO}/setup.bash

Requirements and installation guide¶

Requirements¶

Installation options¶

Binaries¶

From source¶