Xenomai ROS and Orocos

Hi all,

We have a PC running Ubuntu 10.04 patched with Xenomai.
On this PC we have compiled Orocos 2.5 by using the bootstrap (no ros integration).

Now we would like to install also ROS and the integration with Orocos.

What's the best way ford doing that?
Do I have to remove the current version of Orocos, install the orocos_toolchain_ros stack and try to recompile it for xenomai or is it possible to install ROS and integrate it with the already installed Orocos version?

Thanks in advance,
Luca

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Luca Gherardi
PhD Student at University of Bergamo
Dept. of Information Technology and Mathematics
V.le Marconi, 5 - 24044 Dalmine, Italy
Tel +39 333 8396279
Home: http://www.lucagherardi.it

Xenomai ROS and Orocos

On Tue, Dec 18, 2012 at 5:19 PM, Luca Gherardi <luca [dot] gherardi [..] ...> wrote:
> Hi all,
>
> We have a PC running Ubuntu 10.04 patched with Xenomai.
> On this PC we have compiled Orocos 2.5 by using the bootstrap (no ros integration).
>
> Now we would like to install also ROS and the integration with Orocos.
>
> What's the best way ford doing that?
> Do I have to remove the current version of Orocos, install the orocos_toolchain_ros stack and try to recompile it for xenomai or is it possible to install ROS and integrate it with the already installed Orocos version?

It should not be necessary to remove the autoproj/bootstrap build.
What you need to do is:

1. add orocos-toolchain to your ROS_PACKAGE_PATH
2. source 'env.sh' and set the OROCOS_TARGET environment variable to 'xenomai'
2. checkout the rtt_* stacks in your ROS_PACKAGE_PATH, for example using rosws:
rosws init ~/orocos /opt/ros/fuerte
rosws set rtt_ros_integration --git
http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git
rosws update
source ~/orocos/setup.bash
3. do rosmake rtt_ros_integration

That should do it. Make sure that you have OROCOS_TARGET=xenomai set
in every terminal.

It's probably better that this procedure gets into a wiki, since this
question rises from time to time.

If you choose to rebuild orocos-toolchain with autoproj, it might
change your target again, I didn't check if autoproj picks up the
OROCOS_TARGET environment variable itself.

Peter

Xenomai ROS and Orocos

On 12/19/2012 11:55 AM, Peter Soetens wrote:
> If you choose to rebuild orocos-toolchain with autoproj, it might
> change your target again, I didn't check if autoproj picks up the
> OROCOS_TARGET environment variable itself.
Autoproj sets the OROCOS_TARGET (in env.sh and during build) from the
configuration given by the user.