orca-robotics


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Experimental support for Java

Note:
Reviewed for release 2.0.2.
These notes cover how to enable experimental support for Java under Linux. Tested with Ice-3.1.1.

Installation

We need to install Java itself, Ice for Java, and enable compiling of Orca for Java.

Java SDK, aka JDK, aka Java development platform
There's apparently no Debian package. Download Java SE Development Kit (JDK) from http://java.sun.com/javase/downloads/index.jsp. We want something recent, Java 5.0, which is also cleverly referred to as Java 1.5.0. Orca has been tested with JDK 5.0 Update 7. Follow instructions to install. We installed it into /opt/. Add the following lines to your .bashrc file.

export JAVA_COMPILER=javac
export JAVA_HOME=/opt/jdk1.5.0_07
export PATH=$JAVA_HOME/bin:$PATH

Ice for Java
In Debian, install this package:
# apt-get install libzeroc-ice-java 

Or, download IceJ-[VERSION] package for Java-5. Copy the lib/Ice.jar file into [ICE_HOME]/lib/ directory.

Orca for Java
Java compilation is disabled by default in the Orca distribution. To enable, run ccmake in your binary directory, scroll down to BUILD_JAVA option and hit ENTER to toggle between ON/OFF. Then press C to configure and G to generate Makefiles and exit. Now run make to compile.

Operation

Orca includes an example component which mimicks the operation of LaserMon component. See PureIceJ documentation for instructions on how to run it.
 

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)


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