Download and Install Orca

Note:

Reviewed for release 9.11

Overview of dependencies

The diagram below shows an overview of dependencies between Orca/Hydro and external libraries. Orca/Hydro code is distributed as single project but the difference in dependencies is reflected in the internal source structure.

Dependencies are indicated by dashed arrows. Note that GearBox as a whole does not have any "official" dependencies but the libraries used by Orca/Hydro require libIceUtil.

For Orca users this dependency structure means that 3 packages need to be installed in the following order: Ice, GearBox, Orca. Ice is available in binary for for many systems. GearBox packages are also on the way. The instructions below step you through the process.

Download instructions

• Option 1. Download the latest distributions
  • GearBox
  • Orca

• Option 2. Checkout source from SVN
  • Anonymous checkout (if you want to commit something later you'll be prompted for username/password):

    $ svn co https://gearbox.svn.sf.net/svnroot/gearbox/gearbox/trunk gearbox
    $ svn co https://orca-robotics.svn.sf.net/svnroot/orca-robotics/orca/trunk orca
    

  • See links to get started with SVN.
  • See more detailed SourceForge SVN instructions.

Installation instructions

Detailed instructions are available for these platforms/distributions (each page indicates for which version these instructions were updated, out-of-date instructions may not be very useful):

• Debian Linux, also tested with Ubuntu/Kubuntu (last reviewed for 9.11)
• Slackware Linux (last reviewed for 9.11)
• Fedora Linux (last reviewed for 2.0.0)
• QNX Neutrino (last reviewed for 2.4.0)
• Windows XP (last reviewed for 2.3.0)
• MacOS, Solaris: reports of successful builds in the past.
• Send feedback on building under other configurations.

The instructions below are quite general, follow them if your platform/distribution combination is not described above:

1. Download and install CMake: Cross-Platform Make which is used to build the orca distribution.
   • Minimum version required 2.6-patch 3 (latest tested: 2.6-patch 4).
   • Full instructions are available from the download page.
2. Download and install Ice libraries.
   • Minimum version required 3.3.0 (latest tested: 3.3.1)
   • Full instructions are available from the download page. Several binaries distributions exists, for others building from source may be required.
3. Download and install any optional dependencies you'd like. Or just skip this step and do it later.
   • Player/Stage, is required for some hardware support and for use of the Stage simulator (you probably want this).
     • For version requirements see individual component documentation.
   • Qt is a cross-platform framework for building GUI's. Some components are GUI-only and some have optional GUI drivers.
     • Minimum version required 4.3.0 (latest tested: 4.5.1)
4. Build and install GearBox distribution.
   • Minimum version required 9.02
   • Un-tar the archive, configure using CMake, compile and install
5. Build and install Hydro distribution.
   • Un-tar the archive, configure using CMake, compile and install
6. Build and install Orca distribution.
   • Un-tar the archive, configure using CMake, compile and install
7. Make sure that all executables are in the path.

Installation process can be customized with a few variables which can be supplied on the command-line, e.g.

$ cmake -D[VARIABLE_NAME]=[VARIABLE_VALUE] .

The following are the names of available variables for each distribution:

• GearBox
  • GEARBOX_INSTALL - where to install GearBox installation, e.g. "cmake -DGEARBOX_INSTALL=/home/myuser/temp ."
  • ICEUTIL_HOME - where to find IceUtil installation, e.g. "cmake -DICEUTIL_HOME=/home/myuser/temp ."
• Hydro
  • HYDRO_INSTALL - where to install Hydro installation, e.g. "cmake -DHYDRO_INSTALL=/home/myuser/temp ."
  • ICEUTIL_HOME - where to find IceUtil installation, e.g. "cmake -DICEUTIL_HOME=/home/myuser/temp ."
  • GEARBOX_HOME - where to find Gearbox installation, e.g. "cmake -DGEARBOX_HOME=/home/myuser/temp ."
• Orca
  • ORCA_INSTALL - where to install Orca, e.g. "cmake -DORCA_INSTALL=/home/myuser/temp ."
  • ICE_HOME - where to find Ice installation, e.g. "cmake -DICEUTIL_HOME=/home/myuser/temp ."
  • GEARBOX_HOME - where to find Gearbox installation, e.g. "cmake -DGEARBOX_HOME=/home/myuser/temp ."
  • HYDRO_HOME - where to find Hydro installation, e.g. "cmake -DHYDRO_HOME=/home/myuser/temp ."

Other build configuration variables available for all distributions:

• GBX_DEFAULT_LIB_TYPE - select default library type between SHARED (default) and STATIC. This is more useful in Windows. Note that not all libraries are configured use default setting and may be hardwired to be either static or dynamic.