Hydev

# OROCOS

## Overview

OROCOS is a C++ framework designed to help developing Realtime software, for robotics applications for example…

## Debian installation

I'm trying to build a debian package from source instead of making a raw installation (which I think, is a ugly way to do)… I tried the method explained on the OROCOS wiki, but it failed, so I went the checkinstall way ^^

### Orocos RTT package (2.x)

  cd work_dir
  git clone http://git.gitorious.org/orocos-toolchain/rtt.git
  cd rtt
  # That's related to the Wiki instruction, but failed...
  #cd rtt/debian
  #./create-control.sh gnulinux    # optionally add "lxrt", "xenomai"
  #git add *2.6*install
  #git commit -sm"2.6 release install files"
  #cd ..
  #export DEB_BUILD_OPTIONS="parallel=2"    # or 4, 8, depending on your computer
  #git-buildpackage --git-upstream-tree=origin}}
  mkdir build
  cd ./build
  cmake ..
  make
  sudo checkinstall make install

When editing the package informations, change the name to orocos-rtt (both in the “name” and in the “provides” fields).

The last .deb pakckage I've built (for Wheezy x64): orocos-rtt_20131201-1_amd64.deb

### Orocos OCL package (2.x) OCL didn't build with LOGGING options, so I had to disable them…

  sudo apt-get install liblua5.1-dev libncursesw5-dev
  cd BASE_DIR
  git clone http://git.gitorious.org/orocos-toolchain/ocl.git
  cd ocl
  mkdir build
  cd ./build
  cmake -DBUILD_LOGGING=0 ..
  make
  sudo checkinstall make install

When editing the package informations, change the name to orocos-ocl (both in the “name” and in the “provides” fields)

The last .deb pakckage I've built (for Wheezy x64): orocos-ocl_20131201-1_amd64.deb

## Archlinux installation

Not much to say about that… OROCOS packages exist in AUR, and, as of today, work pretty well

## ROS installation

There is a way to install orocos through ROS, I haven't looked at it yet, maybe someday…

## Resources

http://www.orocos.org/forum/orocos/orocos-users/rttocl-alternative-installrttexercises