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In this tutorial we will reproduce the setup of the Quick-Start Guide but now the Laser2d component will run as a service inside the IceBox application server. The difference is that a single process is used to run the Laser2d component and IceStorm. Later you can run many components within one IceBox which has advantages with respect to performance and deployment.
Because IceBox services are not used by everyone, their compilation is disabled by default. To turn it on, use
Make sure the IceGrid Registry is running and the IceStorm server is NOT (See Quick-Start Guide for instructions).
First, copy default configuration files for the SickLaser and LaserMon components.
$ cd ~/sys; mkdir tuteicebox; cd tuteicebox $ cp [ORCA-INSTALL]/share/orca/cfg/laser2d.cfg . $ cp [ORCA-INSTALL]/share/orca/cfg/lasermon.cfg .
Also, copy the IceBox configuration files for this tutorial, which are included with your Orca distribution.
$ cp [ORCA-SRC]/scripts/ice/icebox_laser.cfg . $ cp [ORCA-SRC]/scripts/ice/icestorm.cfg . $ mkdir stormdb
The IceBox configuration file does not need to be modifed. It instructs the IceBox to first load the IceStorm service and then the Laser2d service. Both are configured to share a single instance of Communicator to speed up communication.
The laser config file needs to be changed to
Start the IceBox.
$ icebox --Ice.Config=icebox_laser.cfg
Start a new shell, and fire up the LaserMon component (a laser monitor). No modifications are needed for its configuration file. Note that the name of the configuration file is not specified on the command line and it is assumed to be
You should see the scans scroll by on the screen, just as in the Starting Up the Infrastructure tutorial. To stop the IceBox or the component, type
If everything works, check out more Orca Tutorials.
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