Orocos under ROS/fuerte

Submitted by Fabrizio on Mon, 2012-05-21 11:36

Orocos-users

Dear all,
I'm trying to install orocos under ROS/fuerte but there isn't the
orocos_toolchain package...

How can I install it?

Thanks,
Fabrizio

Orocos under ROS/fuerte

Submitted by peter on Fri, 2012-10-26 02:04.

On Mon, Oct 22, 2012 at 10:40 AM, <t [dot] t [dot] g [dot] clephas [..] ...> wrote:

> Is there any work being done to get the orocos_toolchain in the prebuild
> packages for ROS fuerte?
>
> Since ROS groovy is on the doorstep, we would really like to switch to
> fuerte. And maintaining lots of PC's running ROS fuerte is just much easier
> with prebuild packages :)
>

We've encountered serious issues building fuerte for 12.04. It boils down
to the ruby gem dependencies, which for earlier releases we installed
locally using the rtt_gems package, but for fuerte, we need to get them
from the ubuntu package repositories. And one gem is missing in 12.04, even
though it existed in 11.10.

We first tried extending rosdep to support gems, but since a .deb file
can't depend on a .gem file, this was a dead end.

This is going back and forth between us and the central rosdep.yaml
repository. The only way we can release debs for 12.04 is that by magic a
deb package is accepted in ubuntu's updates repository or that we hack the
rosdep.yaml file of ROS.

Since we're the only users of gems in ROS, we could try again to revert all
our efforts and go back to the situation of pre-fuerte. If not, we're
always going to be dependent of certain gems being available in .deb
packages, which clearly is fragile.

Peter

Orocos under ROS/fuerte

Submitted by gah on Fri, 2012-10-26 06:44.

Peter Soetens wrote:
> On Mon, Oct 22, 2012 at 10:40 AM, <t [dot] t [dot] g [dot] clephas [..] ...> wrote:
>> Is there any work being done to get the orocos_toolchain in the prebuild
>> packages for ROS fuerte?
>>
>> Since ROS groovy is on the doorstep, we would really like to switch to
>> fuerte. And maintaining lots of PC's running ROS fuerte is just much easier
>> with prebuild packages :)
>>
>
> We've encountered serious issues building fuerte for 12.04. It boils down
> to the ruby gem dependencies, which for earlier releases we installed
> locally using the rtt_gems package, but for fuerte, we need to get them
> from the ubuntu package repositories. And one gem is missing in 12.04, even
> though it existed in 11.10.
>
> We first tried extending rosdep to support gems, but since a .deb file
> can't depend on a .gem file, this was a dead end.
>
> This is going back and forth between us and the central rosdep.yaml
> repository. The only way we can release debs for 12.04 is that by magic a
> deb package is accepted in ubuntu's updates repository or that we hack the
> rosdep.yaml file of ROS.
>
> Since we're the only users of gems in ROS, we could try again to revert all
> our efforts and go back to the situation of pre-fuerte. If not, we're
> always going to be dependent of certain gems being available in .deb
> packages, which clearly is fragile.
Has a PPA or another form of private repository been considered? At least as a temporary measure, you could create your own deb package of the gem(s) needed, then ask the user of the orocos packages to add it to their configuration. Seeing as the ROS repositories already require some apt configuration steps, this should not pose too much problems. I have seen some other PPAs being mentioned in rosdep output, perhaps that could even be used?
I'm not sure how this would impact the build process on WillowGarage's infrastructure though.

Orocos under ROS/fuerte

Submitted by Ruben Smits on Fri, 2012-10-26 07:28.

On Fri, Oct 26, 2012 at 8:40 AM, g ah <gaohml [..] ...> wrote:
>
> Peter Soetens wrote:
>> On Mon, Oct 22, 2012 at 10:40 AM, <t [dot] t [dot] g [dot] clephas [..] ...> wrote:
>>> Is there any work being done to get the orocos_toolchain in the prebuild
>>> packages for ROS fuerte?
>>>
>>> Since ROS groovy is on the doorstep, we would really like to switch to
>>> fuerte. And maintaining lots of PC's running ROS fuerte is just much easier
>>> with prebuild packages :)
>>>
>>
>> We've encountered serious issues building fuerte for 12.04. It boils down
>> to the ruby gem dependencies, which for earlier releases we installed
>> locally using the rtt_gems package, but for fuerte, we need to get them
>> from the ubuntu package repositories. And one gem is missing in 12.04, even
>> though it existed in 11.10.
>>
>> We first tried extending rosdep to support gems, but since a .deb file
>> can't depend on a .gem file, this was a dead end.
>>
>> This is going back and forth between us and the central rosdep.yaml
>> repository. The only way we can release debs for 12.04 is that by magic a
>> deb package is accepted in ubuntu's updates repository or that we hack the
>> rosdep.yaml file of ROS.
>>
>> Since we're the only users of gems in ROS, we could try again to revert all
>> our efforts and go back to the situation of pre-fuerte. If not, we're
>> always going to be dependent of certain gems being available in .deb
>> packages, which clearly is fragile.
> Has a PPA or another form of private repository been considered? At least as a temporary measure, you could create your own deb package of the gem(s) needed,

This has been done already, see https://launchpad.net/~smits-ruben/+archive/ppa

> then ask the user of the orocos packages to add it to their configuration. Seeing as the ROS repositories already require some apt configuration steps, this should not pose too much problems. I have seen some other PPAs being mentioned in rosdep output, perhaps that could even be used?

Ah, I did not know using ppa's in rosdep was an option, maybe we could
try it this way.

> I'm not sure how this would impact the build process on WillowGarage's infrastructure though.

If we can add the ppa in the rosdep yaml file we should be able to get
the orocos_toolchain debs out shortly.

Ruben

> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>

Orocos under ROS/fuerte

Submitted by gah on Fri, 2012-10-26 11:52.

Ruben Smits wrote:
> On Fri, Oct 26, 2012 at 8:40 AM, g ah <gaohml [..] ...> wrote:
>> Peter Soetens wrote:
>>> On Mon, Oct 22, 2012 at 10:40 AM, <t [dot] t [dot] g [dot] clephas [..] ...> wrote:
>>>> Is there any work being done to get the orocos_toolchain in the prebuild
>>>> packages for ROS fuerte?
>>>>
>>>> Since ROS groovy is on the doorstep, we would really like to switch to
>>>> fuerte. And maintaining lots of PC's running ROS fuerte is just much easier
>>>> with prebuild packages :)
>>>>
>>> We've encountered serious issues building fuerte for 12.04. It boils down
>>> to the ruby gem dependencies, which for earlier releases we installed
>>> locally using the rtt_gems package, but for fuerte, we need to get them
>>> from the ubuntu package repositories. And one gem is missing in 12.04, even
>>> though it existed in 11.10.
>>>
>>> We first tried extending rosdep to support gems, but since a .deb file
>>> can't depend on a .gem file, this was a dead end.
>>>
>>> This is going back and forth between us and the central rosdep.yaml
>>> repository. The only way we can release debs for 12.04 is that by magic a
>>> deb package is accepted in ubuntu's updates repository or that we hack the
>>> rosdep.yaml file of ROS.
>>>
>>> Since we're the only users of gems in ROS, we could try again to revert all
>>> our efforts and go back to the situation of pre-fuerte. If not, we're
>>> always going to be dependent of certain gems being available in .deb
>>> packages, which clearly is fragile.
>> Has a PPA or another form of private repository been considered? At least as a temporary measure, you could create your own deb package of the gem(s) needed,
>
> This has been done already, see https://launchpad.net/~smits-ruben/+archive/ppa
>
>> then ask the user of the orocos packages to add it to their configuration. Seeing as the ROS repositories already require some apt configuration steps, this should not pose too much problems. I have seen some other PPAs being mentioned in rosdep output, perhaps that could even be used?
>
> Ah, I did not know using ppa's in rosdep was an option, maybe we could
> try it this way.

I'm unsure as to how they did it, but it seems the 'glc' rosdep does this:

glc -> #!/bin/bash
yes | sudo apt-add-repository ppa:arand
sudo apt-get update
sudo apt-get install -y glc

Could this not be used by Orocos?

I got this by running 'rosdep db | less' on Fuerte, then look for 'glc'.

Orocos under ROS/fuerte

Submitted by Ruben Smits on Fri, 2012-10-26 13:44.

On Fri, Oct 26, 2012 at 1:51 PM, g ah <gaohml [..] ...> wrote:
>
>
> Ruben Smits wrote:
> > On Fri, Oct 26, 2012 at 8:40 AM, g ah <gaohml [..] ...> wrote:
> >> Peter Soetens wrote:
> >>> On Mon, Oct 22, 2012 at 10:40 AM, <t [dot] t [dot] g [dot] clephas [..] ...> wrote:
> >>>> Is there any work being done to get the orocos_toolchain in the prebuild
> >>>> packages for ROS fuerte?
> >>>>
> >>>> Since ROS groovy is on the doorstep, we would really like to switch to
> >>>> fuerte. And maintaining lots of PC's running ROS fuerte is just much easier
> >>>> with prebuild packages :)
> >>>>
> >>> We've encountered serious issues building fuerte for 12.04. It boils down
> >>> to the ruby gem dependencies, which for earlier releases we installed
> >>> locally using the rtt_gems package, but for fuerte, we need to get them
> >>> from the ubuntu package repositories. And one gem is missing in 12.04, even
> >>> though it existed in 11.10.
> >>>
> >>> We first tried extending rosdep to support gems, but since a .deb file
> >>> can't depend on a .gem file, this was a dead end.
> >>>
> >>> This is going back and forth between us and the central rosdep.yaml
> >>> repository. The only way we can release debs for 12.04 is that by magic a
> >>> deb package is accepted in ubuntu's updates repository or that we hack the
> >>> rosdep.yaml file of ROS.
> >>>
> >>> Since we're the only users of gems in ROS, we could try again to revert all
> >>> our efforts and go back to the situation of pre-fuerte. If not, we're
> >>> always going to be dependent of certain gems being available in .deb
> >>> packages, which clearly is fragile.
> >> Has a PPA or another form of private repository been considered? At least as a temporary measure, you could create your own deb package of the gem(s) needed,
> >
> > This has been done already, see https://launchpad.net/~smits-ruben/+archive/ppa
> >
> >> then ask the user of the orocos packages to add it to their configuration. Seeing as the ROS repositories already require some apt configuration steps, this should not pose too much problems. I have seen some other PPAs being mentioned in rosdep output, perhaps that could even be used?
> >
> > Ah, I did not know using ppa's in rosdep was an option, maybe we could
> > try it this way.
>
> I'm unsure as to how they did it, but it seems the 'glc' rosdep does this:
>
> glc -> #!/bin/bash
> yes | sudo apt-add-repository ppa:arand
> sudo apt-get update
> sudo apt-get install -y glc
>
> Could this not be used by Orocos?
>

It solves the problem for building from source, but not for the deb
package creation

The problem with this is that the debian generator does not know how
to interpret this as a dependency, since it not a plain deb name. I
had a short discussion with Tully this morning, supporting ppa's is
not yet possible, what he will do is add the one missing deb
(ruby-facets) to the ros debian repository, this way we should be able
to release orocos-debs soon.

>
> I got this by running 'rosdep db | less' on Fuerte, then look for 'glc'.

--
Ruben Smits, Phd
Chief Technology Officer
Intermodalics BVBA
+32479511786
www.intermodalics.eu

Orocos under ROS/fuerte

Submitted by Sylvain Joyeux on Fri, 2012-10-26 11:44.

FYI, I am also (slowly) going through the same process about the gems
for Rock. We should find a way to share this effort.

https://build.opensuse.org/project/show?project=home%3Asylvainjoyeux%3Agems

Sylvain

Orocos under ROS/fuerte

Submitted by Steven Bellens on Mon, 2012-05-21 11:44.

2012/5/21 Fabrizio Boriero <fabrizio [dot] boriero [..] ...>:
> Dear all,
> I'm trying to install orocos under ROS/fuerte but there isn't the
> orocos_toolchain package...
>
> How can I install it?

We're still working on getting the prebuild packages working on ROS
fuerte. Because of the change in rosdep, this is taking some time to
get all dependencies of the toolchain in the official rosdep
repository.
In the meantime, installing from source should not be that hard. More
info for that is available, e.g. at
http://www.ros.org/wiki/orocos_toolchain

regards,

Steven

>
> Thanks,
> Fabrizio
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

RE: Orocos under ROS/fuerte

Submitted by Tim on Mon, 2012-10-22 08:40.

Is there any work being done to get the orocos_toolchain in the prebuild packages for ROS fuerte?

Since ROS groovy is on the doorstep, we would really like to switch to fuerte. And maintaining lots of PC's running ROS fuerte is just much easier with prebuild packages :)

Regards,

Tim

Orocos under ROS/fuerte

Submitted by Dominick Vanthienen on Tue, 2012-07-10 13:24.

Hi,

On 05/21/2012 01:43 PM, Steven Bellens wrote:
> 2012/5/21 Fabrizio Boriero<fabrizio [dot] boriero [..] ...>:
>> Dear all,
>> I'm trying to install orocos under ROS/fuerte but there isn't the
>> orocos_toolchain package...
>>
>> How can I install it?
>
> We're still working on getting the prebuild packages working on ROS
> fuerte. Because of the change in rosdep, this is taking some time to
> get all dependencies of the toolchain in the official rosdep
> repository.
What is the status of the effort to create orocos prebuild pkgs for ROS fuerte (on Ubuntu Precise)?

kind regards,

nick

> In the meantime, installing from source should not be that hard. More
> info for that is available, e.g. at
> http://www.ros.org/wiki/orocos_toolchain
>
> regards,
>
> Steven
>
>>
>> Thanks,
>> Fabrizio
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

Orocos under ROS/fuerte

Submitted by Tinne De Laet on Mon, 2012-05-21 11:52.

On 05/21/2012 01:43 PM, Steven Bellens wrote:
> 2012/5/21 Fabrizio Boriero<fabrizio [dot] boriero [..] ...>:
>> Dear all,
>> I'm trying to install orocos under ROS/fuerte but there isn't the
>> orocos_toolchain package...
>>
>> How can I install it?
>
> We're still working on getting the prebuild packages working on ROS
> fuerte. Because of the change in rosdep, this is taking some time to
> get all dependencies of the toolchain in the official rosdep
> repository.
> In the meantime, installing from source should not be that hard. More
> info for that is available, e.g. at
> http://www.ros.org/wiki/orocos_toolchain

I installed orocos (with rtt and ocl toolchain 2.5) from source with ros
fuerte on a ubuntu precise system.
Everything compiled (I additionally installed curses (see ML in case you
have problems)) and is running just fine.

TInne

Orocos under ROS/fuerte

Submitted by jbohren on Wed, 2012-05-30 00:59.

Tinne,

I tried doing the same (Xubuntu 12.04, fuerte), and when trying to build ocl, it fails with the error:
.../orocos_toolchain/ocl/deployment/ComponentLoader.cpp:12:25 fatal error: ros/package.h: No such file or directory

I cloned the toolchain from the electric branches because there don't seem to be fuerte ones for all of them:
git clone -b electric http://git.gitorious.org/orocos-toolchain/orocos_toolchain.git
git clone -b electric http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git
git clone -b electric http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git
git clone -b electric http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git
git clone -b electric http://git.mech.kuleuven.be/robotics/rtt_geometry.git

Which sources are you working from?

Orocos under ROS/fuerte

Submitted by Tinne De Laet on Wed, 2012-05-30 14:00.

On 05/30/2012 02:59 AM, jonathan [dot] bohren [..] ... wrote:
> Tinne,
>
> I tried doing the same (Xubuntu 12.04, fuerte), and when trying to build ocl,
> it fails with the error:
> .../orocos_toolchain/ocl/deployment/ComponentLoader.cpp:12:25 fatal
> error: ros/package.h: No such file or directory
>
> I cloned the toolchain from the electric branches because there don't seem to
> be fuerte ones for all of them:
> git clone -b electric
> http://git.gitorious.org/orocos-toolchain/orocos_toolchain.git
> git clone -b electric
> http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git
> git clone -b electric
> http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git
> git clone -b electric
> http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git
> git clone -b electric
> http://git.mech.kuleuven.be/robotics/rtt_geometry.git
>
> Which sources are you working from?

orocos_toolchain master

Then seperately updated the submodules to:
ocl toolchain-2.5
rtt toolchain-2.5

Kind regards.

Tinne

Orocos under ROS/fuerte

Submitted by jbohren on Wed, 2012-05-30 15:58.

Ahh, I see that, now. It looks like a few other paths were hardcoded into the CMakelists. So I don't know how useful my patch is now, but I think it might be a bit more robust.

https://gitorious.org/orocos-toolchain/ocl/blobs/toolchain-2.5/deployment/CMakeLists.txt

https://gitorious.org/~jbohren/orocos-toolchain/ocl-fuerte/blobs/fuerte/deployment/CMakeLists.txt

There's also an open bug on this: http://bugs.orocos.org/show_bug.cgi?id=951

Thanks, -j

Orocos under ROS/fuerte

Submitted by jbohren on Wed, 2012-05-30 13:01.

Regardless, I made a 'fuerte' branch in my own clone of ocl and added the appropriate CMake calls as described by the Catkin docs. I'm posting a merge request on gitorious, but until then, people should be able to get it here:

 roscd orocos_toolchain
 rm -rf ocl 
 git clone -b fuerte git://gitorious.org/~jbohren/orocos-toolchain/ocl-fuerte.git ocl

The way I did it, it should be backwards compatible with ROS Electric. It builds on both fuerte and electric, and ocl/bin/helloworld also comes up and runs on both.

(also I'm sure there's a better way to switch to a different git repo, but rm -rf was just easier, since I'm still learning my way around git)