Setting up the RTT 2.4 exercises on Ubuntu

RTT Exercises Installation with ROS

These instructions are meant for the Orocos Toolchain version 2.4.0 or later.

Installation

  • Install Electric ROS using Debian packages for Ubuntu Lucid (10.04) or later. In case you don't run Ubuntu you can use the ROS install scripts. See the ros installation instructions.
    • Make sure the following debian packages are installed: ros-electric-rtt-ros-integration ros-electric-rtt-ros-comm ros-electric-rtt-geometry ros-electric-rtt-common-msgs ros-electric-pr2-controllers ros-electric-pr2-simulator ros-electric-joystick-drivers ruby
  • Create a directory in which you want to install all the workshops source (for instance training)

mkdir ~/training

  • Add this directory to your $ROS_PACKAGE_PATH

export ROS_PACKAGE_PATH=~/training:$ROS_PACKAGE_PATH

  • Get rosinstall

sudo apt-get install python-setuptools
sudo easy_install -U rosinstall

  • Get the rosinstall file . Save it as orocos_exercises.rosinstall in the training folder.
  • Run rosinstall

rosinstall ~/training orocos_exercises.rosinstall /opt/ros/electric

  • As the rosinstall tells you source the setup script

source ~/training/setup.bash

  • Install all dependencies (ignore warnings)

rosdep install youbot_common
rosdep install rFSM

  • Compile the dependencies

rosmake youbot_common rtt_dot_service rttlua_completion

Setup

  • Add the following functions in your $HOME/.bashrc file:

useOrocos(){
    source $HOME/training/setup.bash;
    source $HOME/training/setup.sh;
    source /opt/ros/electric/stacks/orocos_toolchain/env.sh;
    setLUA;
}
 
setLUA(){
    if [ "x$LUA_PATH" == "x" ]; then LUA_PATH=";;"; fi
    if [ "x$LUA_CPATH" == "x" ]; then LUA_CPATH=";;"; fi
    export LUA_PATH="$LUA_PATH;`rospack find rFSM`/?.lua"
    export LUA_PATH="$LUA_PATH;`rospack find ocl`/lua/modules/?.lua"
    export LUA_PATH="$LUA_PATH;`rospack find rttlua_completion`/?.lua"
    export LUA_CPATH="$LUA_CPATH;`rospack find rttlua_completion`/?.so"
    export PATH="$PATH:`rosstack find orocos_toolchain`/install/bin"
}
 
useOrocos

Testing

You can test your setup after all the above steps by opening a new terminal and doing: 
  roscd hello-1-task-execution
  make
  rosrun ocl deployer-gnulinux -s start.ops
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