As of the ROS electric release, the orocos_toolchain_ros stack is split up in 5 different stacks:

• orocos_toolchain: containing the bare orocos packages

• rtt_ros_integration (now a stack!): containing all orocos-ros integration code

• rtt_geometry: containing integration code for working with orocos and tf

• rtt_ros_comm: RTT typekits for the ros_comm messages

• rtt_common_msgs: RTT typekits for the common_msgs messages

With Ubuntu

sudo apt-get install ros-fuerte-orocos-toolchain ros-fuerte-rtt-ros-integration ros-fuerte-rtt-geometry ros-fuerte-rtt-ros-comm ros-fuerte-rtt-common-msgs

Don't forget to add source orocos_toolchain/env.sh to your environment when you want to use OROCOS packages.

With rosinstall

If you do not already have a ros workspace, create one:

export ROS_WORKSPACE=~/path/to/workspace
mkdir $ROS_WORKSPACE
cd $ROS_WORKSPACE
rosws init . /opt/ros/fuerte

Navigate to your ros workspace, and add the orocos sources:

roscd
rosws set -y orocos/orocos_toolchain --git git://gitorious.org/orocos-toolchain/orocos_toolchain.git -v fuerte
rosws set -y orocos/rtt_ros_integration --git http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git -v fuerte
rosws set -y orocos/rtt_ros_comm --git http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git -v fuerte
rosws set -y orocos/rtt_common_msgs --git http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git -v fuerte
rosws set -y orocos/rtt_geometry --git http://git.mech.kuleuven.be/robotics/rtt_geometry.git -v fuerte
rosws update
rosws regenerate
source setup.sh

Build the packages:

roscd orocos_toolchain
source env.sh
rosdep install orogen
rosmake orocos_toolchain rtt_ros_integration rtt_ros_comm rtt_common_msgs rtt_geometry

Don't forget to add source orocos_toolchain/env.sh to your environment when you want to use OROCOS packages.

Manual Installation

Compiling from source

mkdir $HOME/rosstacks
echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:\$HOME/rosstacks" >> ~/.bashrc
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$HOME/rosstacks
cd $HOME/rosstacks

Ubuntu 12.04 (Precise)

sudo apt-get install libreadline-dev omniorb omniidl omniorb-nameserver libomniorb4-1 libomniorb4-dev libomnithread3-dev libomnithread3c2 gccxml antlr libantlr-dev libxslt1-dev liblua5.1-0-dev ruby1.8-dev libruby1.8 rubygems1.8

git clone --recursive -b fuerte git://gitorious.org/orocos-toolchain/orocos_toolchain.git
git clone -b fuerte http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git
git clone -b fuerte http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git
git clone -b fuerte http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git
git clone -b fuerte http://git.mech.kuleuven.be/robotics/rtt_geometry.git
roscd orocos_toolchain
# Checkout the fuerte branch for ROS Fuerte:
git checkout fuerte
git submodule init
git submodule update
source env.sh
rosmake orocos_toolchain rtt_ros_integration rtt_ros_comm rtt_common_msgs rtt_geometry

Debian Squeeze

sudo apt-get install libreadline-dev omniorb omniidl omniorb-nameserver libomniorb4-1 libomniorb4-dev libomnithread3-dev libomnithread3c2 gccxml antlr libantlr-dev libxslt1-dev liblua5.1-0-dev ruby1.8-dev libruby1.8 rubygems1.8 libcppunit-dev sip4

git clone --recursive git://gitorious.org/orocos-toolchain/orocos_toolchain.git
git clone http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git
git clone http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git
git clone http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git
git clone http://git.mech.kuleuven.be/robotics/rtt_geometry.git
roscd orocos_toolchain
git submodule init
git submodule update
source env.sh

roscd ocl
nano manifest.xml

Edit manifest.xml and add following line:

<depend package="roslib"/>

after line 12.

roscd ocl
nano CMakeLists.txt

Edit CMakeLists.txt and uncomment following lines (123-126):

  include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
  rosbuild_init()
  rosbuild_find_ros_package( rtt )
  set( RTT_HINTS HINTS ${rtt_PACKAGE_PATH}/install )

Now orocos_toolchain_ros can be compiled:

rosmake orocos_toolchain rtt_ros_integration rtt_ros_comm rtt_common_msgs rtt_geometry