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-groovy-orocos-toolchain ros-groovy-rtt-ros-integration ros-groovy-rtt-geometry ros-groovy-rtt-ros-comm ros-groovy-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 groovy
rosws set -y orocos/rtt_ros_integration --git http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git -v groovy
rosws set -y orocos/rtt_ros_comm --git http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git -v groovy
rosws set -y orocos/rtt_common_msgs --git http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git -v groovy
rosws set -y orocos/rtt_geometry --git http://git.mech.kuleuven.be/robotics/rtt_geometry.git -v groovy
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.

With catkin

IN PROGRESS

Create a catkin workspace if it doesn't already exist and navigate to the source directory:

mkdir -p ~/ws/orocos/src
cd ~/ws/orocos/src

Clone the orocos toolchain and build it with catkin_make_isolated:

git clone --recursive git://gitorious.org/orocos-toolchain/orocos_toolchain.git
cd ..
catkin_make_isolated --install

Source the setup file for the orocos underlay:

source install_isolated/setup.bash

Create the workspace for catkin packages:

mkdir -p ~/ws/my_project