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RTT ORCA

This package contains orocos wrappers for the orca objects.

Installation

  • catkin
  • orocos-rtt
  • orocos-ocl
  • gazebo

Catkin

Install pip https://pip.pypa.io/en/stable/installing/

pip install --user -U pip catkin-pkg catkin-tools vcstools vcstool wstool

Orocos toolchain 2.9

mkdir -p ~/isir/orocos-2.9_ws/src
cd ~/isir/orocos-2.9_ws/src
# Get all the packages
wstool init
wstool merge https://raw.githubusercontent.com/syroco/rtt_orca/master/config/orocos_toolchain-2.9.rosinstall
wstool update -j2
# Configure the workspace
cd ~/isir/orocos-2.9_ws/
# Install dependencies
catkin config --init --install --cmake-args -DCMAKE_BUILD_TYPE=Release
# Build
catkin build