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Add top-level CMakeLists.txt, configure script and Makefile
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‎.gitignore

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build/
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install/

‎CMakeLists.txt

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##
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## Top-level CMakeLists.txt to build and install the whole Orocos Toolchain
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##
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cmake_minimum_required(VERSION 2.8)
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# capture CMake arguments specified at the command-line
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# (taken from https://stackoverflow.com/a/48555098)
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# MUST be done before call to 'project'
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get_cmake_property(vars CACHE_VARIABLES)
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foreach(var ${vars})
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if(NOT var MATCHES "^(CMAKE_INSTALL_PREFIX|CMAKE_BUILD_TYPE|GIT_BASE_URL|GIT_TAG|OROCOS_TARGET|BUILD_STATIC|ENABLE_CORBA|CORBA_IMPLEMENTATION)$")
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get_property(currentHelpString CACHE "${var}" PROPERTY HELPSTRING)
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if("${currentHelpString}" MATCHES "No help, variable specified on the command line." OR "${currentHelpString}" STREQUAL "")
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#message("${var} = [${${var}}] -- ${currentHelpString}") # uncomment to see the variables being processed
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list(APPEND CL_ARGS "-D${var}=${${var}}")
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endif()
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endif()
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endforeach()
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project(orocos_toolchain)
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######################
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# Build-time options #
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######################
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# get absolute CMAKE_INSTALL_PREFIX
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if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
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set(CMAKE_INSTALL_PREFIX "${CMAKE_CURRENT_SOURCE_DIR}/install")
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endif()
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set(CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}" CACHE PATH "Install path prefix, prepended onto install directories" FORCE)
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message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
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# (copied from rtt/orocos-rtt.default.cmake)
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#
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# Sets the CMAKE_BUILD_TYPE to Release by default. This is not a normal
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# CMake flag which is not readable during configuration time.
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if (NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Choose the type of build, options are: None(CMAKE_CXX_FLAGS or CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel." FORCE)
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endif()
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#
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# Set the target operating system. One of [lxrt gnulinux xenomai macosx win32]
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# You may leave this as-is or force a certain target by removing the if... logic.
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#
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set(DOC_STRING "The Operating System target. One of [gnulinux lxrt macosx win32 xenomai]")
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set(OROCOS_TARGET_ENV $ENV{OROCOS_TARGET}) # MUST use helper variable, otherwise not picked up !!!
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if( OROCOS_TARGET_ENV )
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set(OROCOS_TARGET ${OROCOS_TARGET_ENV} CACHE STRING "${DOC_STRING}" FORCE)
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message(STATUS "Detected OROCOS_TARGET environment variable. Using: ${OROCOS_TARGET}")
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else()
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if(NOT DEFINED OROCOS_TARGET )
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if(MSVC)
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set(OROCOS_TARGET win32 CACHE STRING "${DOC_STRING}")
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elseif(APPLE AND ${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
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set(OROCOS_TARGET macosx CACHE STRING "${DOC_STRING}")
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else()
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set(OROCOS_TARGET gnulinux CACHE STRING "${DOC_STRING}")
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endif()
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endif()
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message(STATUS "No OROCOS_TARGET environment variable set. Using: ${OROCOS_TARGET}")
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endif()
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# (copied from rtt/config/check_depend.cmake)
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#
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# Build static libraries?
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#
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option(BUILD_STATIC "Build Orocos RTT as a static library." OFF)
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#
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# CORBA
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#
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option(ENABLE_CORBA "Enable CORBA" OFF)
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if(NOT CORBA_IMPLEMENTATION)
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set(CORBA_IMPLEMENTATION "TAO" CACHE STRING "The implementation of CORBA to use (allowed values: TAO or OMNIORB )" )
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else()
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set(CORBA_IMPLEMENTATION ${CORBA_IMPLEMENTATION} CACHE STRING "The implementation of CORBA to use (allowed values: TAO or OMNIORB )" )
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endif()
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#############
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# Git magic #
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#############
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if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/.git")
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set(IS_GIT TRUE)
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else()
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set(IS_GIT FALSE)
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endif()
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set(GIT_BASE_URL "https://github.com/orocos-toolchain/")
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#set(GIT_TAG "" CACHE STRING "Git branch or tag to checkout in submodules. Default to current branch (update) or default branch (clone).")
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# Find current branch if this is a git tree and use it as a default.
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if(IS_GIT)
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execute_process(
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COMMAND git --git-dir=${CMAKE_CURRENT_SOURCE_DIR}/.git symbolic-ref --short HEAD
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OUTPUT_VARIABLE CURRENT_GIT_BRANCH
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OUTPUT_STRIP_TRAILING_WHITESPACE
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ERROR_QUIET
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)
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if(CURRENT_GIT_BRANCH)
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message(STATUS "Current orocos_toolchain branch: ${CURRENT_GIT_BRANCH}")
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if(NOT DEFINED GIT_TAG)
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set(GIT_TAG ${CURRENT_GIT_BRANCH}) # not cached!
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endif()
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endif()
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endif()
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if(GIT_TAG)
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message(STATUS "Building branch or tag ${GIT_TAG} for all submodules.")
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endif()
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#################################
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# Build and install subprojects #
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#################################
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include(ExternalProject)
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function(build_external_project project)
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cmake_parse_arguments(ARG "" "" "CMAKE_ARGS" ${ARGN})
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set(${project}_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/${project})
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set(${project}_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/${project})
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if(IS_GIT)
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# Use the submodules...
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set(DOWNLOAD_AND_UPDATE_OPTIONS
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DOWNLOAD_COMMAND
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cd "${CMAKE_CURRENT_SOURCE_DIR}" && test -e ${project}/.git || git submodule update --init ${project}
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)
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# Specific branch/tag?
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if(GIT_TAG)
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list(APPEND DOWNLOAD_AND_UPDATE_OPTIONS
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UPDATE_COMMAND
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cd "${CMAKE_CURRENT_SOURCE_DIR}/${project}" && git checkout "${GIT_TAG}"
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)
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endif()
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else()
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# Clone from remote repository...
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set(DOWNLOAD_AND_UPDATE_OPTIONS
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GIT_REPOSITORY "${GIT_BASE_URL}${project}.git"
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GIT_TAG "${GIT_TAG}"
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)
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endif()
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# Set PKG_CONFIG_PATH to be used by subprojects
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set(PKG_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH}")
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ExternalProject_Add(${project}
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PREFIX ${project}
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TMP_DIR "${CMAKE_CURRENT_BINARY_DIR}/tmp"
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STAMP_DIR "${CMAKE_CURRENT_BINARY_DIR}/stamp"
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DOWNLOAD_DIR "${CMAKE_CURRENT_SOURCE_DIR}/${project}"
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SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/${project}"
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BINARY_DIR "${${project}_BINARY_DIR}"
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INSTALL_DIR "${CMAKE_INSTALL_PREFIX}"
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${DOWNLOAD_AND_UPDATE_OPTIONS}
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PATCH_COMMAND #nothing
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BUILD_ALWAYS ON
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CMAKE_COMMAND
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${CMAKE_COMMAND} -E env "PKG_CONFIG_PATH=${PKG_CONFIG_PATH}" ${CMAKE_COMMAND}
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CMAKE_ARGS
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-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
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-DOROCOS_TARGET=${OROCOS_TARGET}
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${ARG_CMAKE_ARGS}
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${ARG_UNPARSED_ARGUMENTS}
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)
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endfunction()
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build_external_project(log4cpp)
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build_external_project(rtt
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CMAKE_ARGS
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-DENABLE_CORBA=${ENABLE_CORBA}
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-DCORBA_IMPLEMENTATION=${CORBA_IMPLEMENTATION}
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-DBUILD_STATIC=${BUILD_STATIC}
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)
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build_external_project(ocl
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DEPENDS log4cpp rtt
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)
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build_external_project(utilrb)
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build_external_project(typelib
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DEPENDS utilrb
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)
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build_external_project(rtt_typelib
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DEPENDS typelib
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)
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build_external_project(orogen
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DEPENDS rtt rtt_typelib utilrb
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)
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#######################################
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# Build orocos_toolchain meta package #
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#######################################
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if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/orocos_toolchain)
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add_subdirectory(orocos_toolchain)
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endif()
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‎Makefile

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.PHONY: all install
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all: build/CMakeCache.txt
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$(MAKE) -C build $@
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build/CMakeCache.txt: configure
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configure:
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./configure
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.PHONY: configure
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install: all
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.PHONY: install
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.DEFAULT: build/CMakeCache.txt
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$(MAKE) -C build $@
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‎README.md

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# The Orocos Toolchain
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The Open RObot COntrol Software ([Orocos](http://www.orocos.org/)) Toolchain is a bundle of multiple packages, which need to be build and installed separately.
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- [Orocos Real-Time Toolkit (rtt)](https://github.com/orocos-toolchain/rtt) - a component framework that allows us to write real-time components in C++
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- [Orocos Log4cpp (log4cpp)](https://github.com/orocos-toolchain/log4cpp) -
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a patched version of the [Log4cpp](http://log4cpp.sourceforge.net/) library for flexible logging to files, syslog, IDSA and other destinations
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- [Orocos Component Library (ocl)](https://github.com/orocos-toolchain/ocl) - the necessary components to start an application and interact with it at run-time
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Futhermore the Orocos Toolchain comes with [oroGen](http://www.rock-robotics.org/stable/documentation/orogen/) and some of its dependencies,
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a specification language and code generator for the Orocos Realtime Toolkit. Also check the installation instructions of the
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[Rock - the Robot Construction Kit](http://www.rock-robotics.org/stable/index.html) project for further details.
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You might also want to have a look at the following sister projects, which are out of the scope of this manual:
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- [Orocos Kinematics Dynamics Library (KDL)](http://www.orocos.org/kdl) - an application independent framework for modeling and computation of kinematic chains
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- [Orocos Bayesian Filtering Library (BFL)](http://www.orocos.org/bfl) - an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes' rule
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- [Reduced Finite State Machine (rFSM)](https://orocos.github.io/rFSM/README.html) - a small and powerful statechart implementation in Lua
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## Documentation
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The latest documentation and API reference is currently available at https://orocos-toolchain.github.io/.
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## Get Started?
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### Install binary packages
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The Orocos project provides binary packages as part of the [ROS distribution](http://www.ros.org) for various platforms.
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Check and follow the [ROS installation instructions](http://wiki.ros.org/ROS/Installation), then run
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```sh
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sudo apt-get install ros-${ROS_DISTRO}-orocos-toolchain
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```
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to install the Orocos Toolchain packages.
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As a ROS user, you might also be interested in the [rtt_ros_integration](http://wiki.ros.org/rtt_ros_integration) project:
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```sh
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sudo apt-get install ros-${ROS_DISTRO}-rtt-ros-integration
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```
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### Build the toolchain from source
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First, clone this repository and its submodules with the command
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```sh
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git clone https://github.com/orocos-toolchain/orocos_toolchain.git --recursive
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```
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If you already have a working copy, make sure that all submodules are up-to-date:
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```sh
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git submodule update --init --recursive
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```
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The next step is to configure the toolchain according to your needs:
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```sh
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./configure --prefix=<installation prefix> [<options>]
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```
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```sh
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Usage: ./configure [<options>] [<additional cmake arguments>]
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Available options:
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--prefix <prefix> Installation prefix (-DCMAKE_INSTALL_PREFIX)
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--{en|dis}able-corba Enable/Disable CORBA transport plugin (-DENABLE_CORBA)
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--omniorb Select CORBA implementation OmniORB
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--tao Select CORBA implementation TAO
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```
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`configure` is nothing else than a simple wrapper around [CMake](https://cmake.org/).
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Check `./configure --help` for the latest available options.
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Last but not least, build the toolchain by running
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```sh
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make install [-j<parallel jobs>]
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```
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‎configure

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#!/bin/bash
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##
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usage() {
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cat <<USAGE >&2
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Usage: $0 [<options>] [<additional cmake arguments>]
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Available options:
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--prefix <prefix> Installation prefix (-DCMAKE_INSTALL_PREFIX)
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--{en|dis}able-corba Enable/Disable CORBA transport plugin (-DENABLE_CORBA)
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--omniorb Select CORBA implementation OmniORB
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--tao Select CORBA implementation TAO
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USAGE
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exit 1
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}
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## Parse command line arguments
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CMAKE_ARGS=()
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while (( "$#" )); do
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case "$1" in
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--help|-h)
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usage ;;
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--prefix=*)
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# set as two separate options
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prefix=${1#--prefix=}
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shift
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set -- --prefix "${prefix}" "$@"
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;;
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--prefix)
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CMAKE_ARGS+=("-DCMAKE_INSTALL_PREFIX=$2")
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shift 2 ;;
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--enable-corba)
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CMAKE_ARGS+=("-DENABLE_CORBA=ON")
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shift ;;
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--disable-corba)
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CMAKE_ARGS+=("-DENABLE_CORBA=OFF")
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shift ;;
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--omniorb)
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CMAKE_ARGS+=("-DCORBA_IMPLEMENTATION=OMNIORB")
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shift ;;
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--tao)
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CMAKE_ARGS+=("-DCORBA_IMPLEMENTATION=TAO")
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shift ;;
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*)
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CMAKE_ARGS+=("$1")
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shift ;;
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esac
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done
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## Invoke cmake
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mkdir -p build && cd build && cmake .. "${CMAKE_ARGS[@]}"
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