Toolchain Installation

NOTE: ROS is required to participate in the YouBot demo.

With ROS on Ubuntu Lucid/Maverick

Install Diamondback ROS using Debian packages for Ubuntu Lucid (10.04) and Maverick (10.10) or the ROS install scripts, in case you don't run Ubuntu.

• Install the ros-diamondback-orocos-toolchain-ros debian package version 0.3.1 or later:  apt-get install ros-diamondback-orocos-toolchain-ros After this step, proceed to Section 2: Workshop Sources below.

With ROS on Debian, Fedora or other systems

• We did not succeed in releasing the Diamondback 0.3.0 binary packages for your target of the Orocos Toolchain. This means that you need to build this 'stack' yourself with 'rosmake', after you installed ROS (See http://www.ros.org/wiki/diamondback/Installation). This 'rosmake' step may take about 30 minutes to an hour, depending on your laptop.

Instructions after ROS is installed:

source /opt/ros/diamondback/setup.bash
mkdir ~/ros
cd ~/ros
export ROS_PACKAGE_PATH=$HOME/ros:$ROS_PACKAGE_PATH
git clone http://git.mech.kuleuven.be/robotics/orocos_toolchain_ros.git
cd orocos_toolchain_ros
git checkout -b diamondback origin/diamondback
git submodule init
git submodule update --recursive
rosmake --rosdep-install orocos_toolchain_ros

NOTE: setting the ROS_PACKAGE_PATH is mandatory for each shell that will be used. It's a good idea to add the export ROS_PACKAGE_PATH line above to your .bashrc file (or equivalent)..

Without ROS

• Run the bootstrap.sh (version 2.3.1) script in an empty directory.

Workshop Sources