the Robot Construction Kit
As we state many times when talking about Rock, most of rock packages are meant to be usable outside of Rock.
The cornerstone to that is to have separated the libraries – which are pure C++ libraries using standard tools (CMake, pkg-config) to build – from the “integration framework”, which is oroGen in our case.
Anyway, this page deals with the steps needed to build CMake packages outside of Rock, which mainly means “without using the Rock build system (autoproj)”
Just to be one the safe side, you will need the following elements to be able to build Rock packages:
Additionally, some packages will require autotools / automake to build
The first thing you will need to do is install the base/types package. Check it out
git clone git://gitorious.org/rock-base/types.git
and install it
cd types mkdir build cd build cmake -DCMAKE_INSTALL_PREFIX=$HOME/dev/install .. make install
The previous step will install everything but the Spline classes, which are needed for instance by the trajectory following / motion planning components. If you need the Spline class, install the external/sisl package beforehand.
Once you have installed this package, you will also need to set a few important environment variables:
export ROCK_CMAKE_MACROS=$HOME/dev/types/cmake export PKG_CONFIG_PATH=$HOME/dev/install/lib/pkgconfig:$HOME/dev/install/share/pkgconfig:$HOME/dev/install/lib64/pkgconfig:$PKG_CONFIG_PATH export LD_LIBRARY_PATH=$HOME/dev/install/lib:$HOME/dev/install/lib64:$PKG_CONFIG_PATH export PATH=$HOME/dev/install/bin:$PATH
Usually, it is best practice to put this line in an env.sh line and source it automatically in e.g. your $HOME/.bashrc:
Since you are trying to build Rock packages without autoproj, you will have to do autoproj’s job, namely:
The rest of this page will outline these steps for you
To install the package dependencies the best way is to have a look on the package directory. The dependencies of each package are listed there.
To configure and build the package, the steps are essentially the same than for base/types, namely:
mkdir build cd build cmake -DCMAKE_INSTALL_PREFIX=$HOME/dev/install ..