As of the ROS electric release, the orocos_toolchain_ros stack is split up in 5 different stacks:

• orocos_toolchain: containing the bare orocos packages

• rtt_ros_integration (now a stack!): containing all orocos-ros integration code

• rtt_geometry: containing integration code for working with orocos and tf

• rtt_ros_comm: RTT typekits for the ros_comm messages

• rtt_common_msgs: RTT typekits for the common_msgs messages

Coming soon: the orocos_toolchain_ros stack will be available in electric as a metapackage to provide a convenient way to install all stacks at once.

Installation

Ubuntu

sudo aptitude install ros-electric-orocos-toolchain ros-electric-rtt-ros-integration ros-electric-rtt-ros-comm ros-electric-rtt-common-msgs ros-electric-rtt-geometry

And source the env.sh script after installation (you might want to add this to your .bashrc file)

source `rosstack find orocos_toolchain`/env.sh

Compiling from source

git clone --recursive git://gitorious.org/orocos-toolchain/orocos_toolchain.git
git clone http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git
git clone http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git
git clone http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git
git clone http://git.mech.kuleuven.be/robotics/rtt_geometry.git
roscd orocos_toolchain
git submodule init
git submodule update
source env.sh
rosmake orocos_toolchain rtt_ros_integration rtt_ros_comm rtt_common_msgs rtt_geometry