Orocos

Documentation

The documentation of the last, stable version of Orocos can be found here:

http://people.mech.kuleuven.be/~orocos/pub/stable/documentation/rtt/v2.4.x/doc-xml/

To get an overview, read this document first: orocos-overview.pdf

Installation

Assumption: You have Ubuntu 10.10 (32 bit) installed

Install the script language "Ruby":

sudo apt-get install ruby

Create and "cd" into the directory in which you want to install the toolchain:

cd ~
mkdir orocos-toolchain
cd orocos-toolchain

Save the Toolchain-2.4 bootstrap.sh script in the folder you just created:

wget http://gitorious.org/orocos-toolchain/build/blobs/raw/toolchain-2.4/bootstrap.sh

In a console, run sh bootstrap.sh. This installs the toolchain-2.4 branch (latest fixes, stable).

sh bootstrap.sh

Answer the questions of the script. Use the default values, BUT answer "xenomai" to the first question.

Load the generated env.sh script at the end of the build !!!

source ./env.sh

* source it in your current console (source ./env.sh)

Also, add it to the .bashrc file in your home directory
(append "source /path/to/the/directory/env.sh" -- without the quotes -- to the end of your .bashrc)

cd ~
gedit .bashrc

(More or less copied from here: http://www.orocos.org/wiki/orocos/toolchain/quick-start )

Test

cd ~/orocos-toolchain/install/bin
sudo ./sudo ./deployer-xenomai

Expected result:

ufechner@dell-laptop:~/orocos-toolchain/install/bin$ sudo ./deployer-xenomai 
[sudo] password for ufechner: 
   Switched to : Deployer

  This console reader allows you to browse and manipulate TaskContexts.
  You can type in an operation, expression, create or change variables.
  (type 'help' for instructions and 'ls' for context info)

    TAB completion and HISTORY is available ('bash' like)

Deployer [S]> quit

TLSF bytes allocated=20480 overhead=3232 max-used=3232 currently-used=3232 still-allocated=0

Use "quit" to leave the program.

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