These are instructions to install the latest version of each of RTT, KDL, BFL and OCL, on Mac OS X using Macports.
Macports does not have official ports for these Orocos projects, however, the approach below is the recommended way to load unofficial ports in to Macports. [1]
These instructions use /opt/myports to hold the Orocos port files. You can substitute any other directory for MYPORTDIR (ie /opt/myports). Instructions are for bash shell - change appropriately for your own shell.
1. Download the Portfile files from this page's Attachments (at bottom of page).
2. Execute the following commands (substituting /opt/myports for the location you wish to store the Orocos port files, and ~/Downloads for the directory you downloaded the portfiles to)
export MYPORTDIR=/opt/myports export DOWNLOADDIR=~/Downloads mkdir \$MYPORTDIR cd \$MYPORTDIR mkdir devel cd devel mkdir orocos-rtt orocos-kdl orocos-bfl orocos-ocl cp \$DOWNLOADDIR/orocos-rtt-Portfile.txt orocos-rtt/Portfile cp \$DOWNLOADDIR/orocos-kdl-Portfile.txt orocos-kdl/Portfile cp \$DOWNLOADDIR/orocos-bfl-Portfile.txt orocos-bfl/Portfile cp \$DOWNLOADDIR/orocos-ocl-Portfile.txt orocos-ocl/Portfile
cd \$MYPORTDIR/devel mkdir orocos-rtt/files cp \$DOWNLOADDIR/rtt-patch-config-check_depend.cmake.diff orocos-rtt/files/patch-config-check_depend.cmake.diff
You should now have a tree that looks like
tree /opt/myports/ /opt/myports/ `-- devel |-- orocos-bfl | `-- Portfile |-- orocos-kdl | `-- Portfile |-- orocos-ocl | `-- Portfile `-- orocos-rtt |-- Portfile `-- files `-- patch-config-check_depend.cmake.diff
3. Edit /opt/local/etc/macports/sources.conf with superuser privileges (ie via sudo), and add the follwing line before the rsync:///rsync.macports.org/...' line.
# (substitute your ''MYPORTDIR'' value from above) file:///opt/myports
4. Execute these commands to tell Macports about your new ports.
cd \$MYPORTDIR sudo portindex
5. Now install each port with the following commands (the following commands add the optional CORBA support, via omniORB in Macports, as well as the helloworld and other useful parts of OCL)
sudo port install orocos-rtt +corba sudo port install orocos-kdl +corba sudo port install orocos-bfl sudo port install orocos-ocl +corba+deployment+motion_control+reporting+taskbrowser+helloworld
6. Verify installation by downloading test-macports.xml from this page's Attachments, and then using these commands
deployer-macosx -s /path/to/test-macports.xml
export DYLD_FALLBACK_LIBRARY_PATH=/opt/local/lib
To build against MacPorts-installed Orocos, add the following to your environment before CMake'ing your project
export CMAKE_PREFIX_PATH=/opt/local
If you use Makefiles or autoconf to build your project, you'll need to tell those build systems to find Orocos headers, libraries and binaries under /opt/local. Instructions are not provided here for that.
To run using MacPorts-installed OROCOS, add the following to your environment
export DYLD_FALLBACK_LIBRARY_PATH=/opt/local/lib:/opt/local/lib/rtt/macosx/plugins
(Not yet tested)
... sudo port uninstall orocos-rtt
Current limitations
dyld: Symbol not found: __cg_jpeg_resync_to_restart Referenced from: /System/Library/Frameworks/ApplicationServices.framework/Versions/A/\ Frameworks/ImageIO.framework/Versions/A/ImageIO Expected in: /opt/local/lib/libJPEG.dylib
[1] Macports guide with detailed information on the port system.
[2] http://www.nabble.com/Incorrect-libjpeg.dylib-after-installing-ImageMagick-td22625866.html
Original bug report for this and accompanying forum entry
Attachment | Size |
---|---|
orocos-rtt-Portfile.txt | 1.82 KB |
orocos-kdl-Portfile.txt | 2.13 KB |
orocos-bfl-Portfile.txt | 1.36 KB |
orocos-ocl-Portfile.txt | 2.67 KB |
rtt-patch-config-check_depend.cmake_.diff | 607 bytes |
test-macports.xml | 472 bytes |