install-sot

This script install automatically the Stack of Tasks and its dependencies.

Quick Start

To start the installation, you should:

1. Set your version of ROS
2. Set your private repositories account (optional)
3. Call:

install_sot.sh ros_subdir installation_level

If ROS is installed, as well as Git and Doxygen, you can start with installation_level=3.

Otherwise you can set install_level to 0 to install the required dependencies.

This will install a ROS workspace in $HOME/devel/ros_subdir/.

The stacks will be installed in $HOME/devel/ros_subdir/stacks.

The repositories will be cloned in: $HOME/devel/ros_subdir/src

The installation will then done in: $HOME/devel/ros_subdir/install

Usage

Usage: `basename $0` [-h] ros_subdir installation_level
    ros_subdir: The sub directory where to install the ros workspace.
      The script creates a variable ros_install_path from ros_subdir:
      ros_install_path=$HOME/devel/$ros_subdir
      The git repositories are cloned in ros_install_path/src and
      installed in ros_install_path/install.

    installation_level: Specifies at which step the script should start
      the installation.

  Options:
   -h : Display help.
   -r ros_release : Specifies the ros release to use.
   -l : Display the steps where the script can be started for installing.
        This also display the internal instructions run by the script.
        To use -l you HAVE TO specify ros_install_path and installation_level.
        With -l the instructions are displayed but not run.
   -g : OpenHRP 3.0.7 has a priority than OpenHRP 3.1.0. Default is the reverse.
   -m : Compile the sources without updating them
   -u : Update the sources without compiling them
   
  Environment variables:
   GITHUB_ACCOUNT: If you  have a github user account you should set the environment variable
                   GITHUB_ACCOUNT to have read-write rights on the repositories 
                   otherwise they will be uploaded with read-only rights.
   PRIVATE_URI: If you have access to the private repositories for the HRP2.
                Please uncomment the line defining PRIVATE_URI.
   IDH_PRIVATE_URI: If you have access to the private repositories for the HRP4.
                Please uncomment the line defining IDH_PRIVATE_URI.

Deployment:

rsync -avz $HOME/devel/ros_subdir username@robotc:./devel/

will copy the overall control architecture in the home directory of username in computer robotc (could be hrp2c).

3rd party dependencies:

The following external software are required (and will be installed automatically by step 0):

• gfortran
• lapack
• ros-pr2-controllers
• omniidl