I finally managed to compile toolchain-2.5 on OSX 10.7 and ROS Fuerte. Here is what I had to do.
Homebrew: antlr,cppunit,gdbm,gtest,libtiff,lua,opencv,qt,swig-wx,yaml-cpp, boost,eigen,gfortran,jasper,libyaml,mercurial,pcre,readline,tbb, cmake,gccxml,graphviz,jpeg,log4cxx,omniorb,pkg-config,swig,wget
OmniORB: I had to compile omniorb manually. The include/omniORB4/CORBA_sysdep.h file had to be replaced with the one here attached and the following line needed to be added to orocos_kinematics_dynamics/orocos_kdl/CMakeLists.txt
set(CMAKE_OSX_ARCHITECTURES "x86_64")SwigWx: The swig-wx.rb also had to be modified to the one attached.
Compiling orocos-toolchain-2.5: Before executing rosmake. The source had to be patched with the patch provided by: http://bugs.orocos.org/show_bug.cgi?id=971
git clone http://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 roscd log4cpp && git checkout toolchain-2.5 roscd ocl && git checkout toolchain-2.5 roscd orogen && git checkout toolchain-2.5 roscd rtt && git checkout toolchain-2.5 roscd rtt_typelib && git checkout toolchain-2.5 roscd typelib && git checkout toolchain-2.5 roscd utilmm && git checkout toolchain-2.5 roscd utilrb && git checkout toolchain-2.5 roscd orocos_toolchain source env.sh rosmake orocos_toolchain rtt_ros_integration rtt_ros_comm rtt_common_msgs rtt_geometryEven after sourcing the env.sh, DYLD_LIBRARY_PATH had to be updated to:
export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:${OROCOS_INSTALL_ROOT}/orocos_toolchain/install/lib:${OROCOS_INSTALL_ROOT}/orocos_toolchain/install/lib/typelib
If you get fatal error: 'ros/package.h' file not found, then you can modify ocl/CMakeLists.txt to add: include_directories($ENV{ROS_ROOT}/../../include)
Attachment | Size |
---|---|
CORBA_sysdep.h | 14.07 KB |
swig-wx.rb_.tar_.gz | 496 bytes |
Re: Compiling on OSX
Hi Jean,
First of all thank you for your tutorial. I was really looking for a way of installing orocos on my macbook.
I'm trying to follow your instructions in order to build Orocos on osX Lion with ROS Fuerte.
However I reveived two errors, one with orogen and the other with ocl (see below).
Do you have any idea of how to fix it?
Thanks, Luca
Orogen
Ocl
Homebrew: antlr,cppunit,gdbm,gtest,libtiff,lua,opencv,qt,swig-wx,yaml-cpp, boost,eigen,gfortran,jasper,libyaml,mercurial,pcre,readline,tbb, cmake,gccxml,graphviz,jpeg,log4cxx,omniorb,pkg-config,swig,wget
OmniORB: I had to compile omniorb manually. The include/omniORB4/CORBA_sysdep.h file had to be replaced with the one here attached and the following line needed to be added to orocos_kinematics_dynamics/orocos_kdl/CMakeLists.txt
SwigWx: The swig-wx.rb also had to be modified to the one attached.Compiling orocos-toolchain-2.5: Before executing rosmake. The source had to be patched with the patch provided by: http://bugs.orocos.org/show_bug.cgi?id=971
Even after sourcing the env.sh, DYLD_LIBRARY_PATH had to be updated to:If you get fatal error: 'ros/package.h' file not found, then you can modify ocl/CMakeLists.txt to add: include_directories($ENV{ROS_ROOT}/../../include)