Robotics Service Bus

h1. Installation

h2. C++

h3. External Dependencies

* Boost (mostly dependencies of RSC library), in particular 

** boost::uuid (can be installed from GAR installer via contrib/boost.uuid, maverick: libboost1.42-dev)

** libboost-thread-dev

** libboost-filesystem-dev

** libboost-signals-dev

* Google Protocol Buffers (ubuntu lucid package is ok, can also be installed from GAR installer via contrib/protobuf), in particular

** libprotobuf-dev

** protobuf-compiler

* Optional:

** Doxygen for documentation generation (ubuntu package)

** lcov for coverage report (ubuntu package)

Up to this step, in Maverick installing the dependencies should be as simple as:

<pre>

sudo apt-get install libprotobuf-java libprotobuf-dev protobuf-compiler libboost-thread-dev libboost-filesystem-dev libboost-signals-dev libboost-program-options-dev libboost-regex-dev libboost1.42-dev

</pre>

* Spread Toolkit for Spread multicast transport extension (lucid ubuntu package does *not* work, due to outdated version 3) 

** Can be installed through GAR installer via contrib/spread or from source

h3. Installation of RSC, RSBProtocol and RSB

* Check RSB and its immediate dependencies from the Subversion repository:

** RSC: https://code.cor-lab.org/svn/rsc/trunk/rsc

** RSB Protocol: https://code.cor-lab.org/svn/rsb/trunk/protocol

** RSB C++: https://code.cor-lab.org/svn/rsb/trunk/cpp/core

* CMake is required to configure the projects.

* Build and install the RSB C++ core and its dependencies (in the order given below):

*# Build and install RSC Library:

<pre>

cd rsc/build && cmake .. -DCMAKE_INSTALL_PREFIX=$prefix && make && make install

</pre>

*# Install RSB Protocol Definitions

<pre>

cd protocol/build && cmake .. -DCMAKE_INSTALL_PREFIX=$prefix && make && make install

</pre>

_Note: these protocol definitions are shared across programming languages._

*# Build and install RSB C++ Core

<pre>

cd core/build && cmake .. -DCMAKE_INSTALL_PREFIX=$prefix -DRSC_DIR=$prefix/share/RSC && make && make install

</pre>

h2. Python

h3. External Dependencies

* install python setuptools and python-dev

* spread-python (e.g. via GAR installer, sources can be downloaded here: http://www.spread.org/files/SpreadModule-1.5spread4.tgz, the version automatically installed by setuptools is NOT working!)

* python-protobuf (via ubuntu package python-protobuf or protobuf sources)

h3. Installation

* get sources

* edit setup.cfg and replace protocolroot with the path to the RSBPRobotocol files (e.g. protocolroot=${prefix}/share/rsbprotocol)

<pre>

export PYTHONPATH=$prefix/lib/python2.6/site-packages

python setup.py build

python setup.py install --prefix=$prefix

</pre>

Afterwards, @import rsb@ should be possible in a python shell.

h2. Java

h3. External Dependencies

* libprotobuf-java

* ant

* Optional:

** javadoc

h3. Installation

* Download src from SVN (see front page)

* cd src and edit build.properties according to your installation

* @ant install@ installs jars to prefix of your choice, e.g., ${prefix}/share/java (defined via property)

* for rsb-xml you also need to install XOM (included in RSBJava src or via ubuntu)

h2. Common Lisp

h3. External Dependencies

| *System*           | *Required*                | *Obtainable From*                     |

| alexandria         | yes                       | "Quicklisp":http://www.quicklisp.org/ |

| split-sequence     | yes                       | Quicklisp                             |

| iterate            | yes                       | Quicklisp                             |

| metabang-bind      | yes                       | Quicklisp                             |

| bordeaux-threads   | yes                       | Quicklisp                             |

| closer-mop         | yes                       | Quicklisp                             |

| log5               | yes                       | Quicklisp                             |

| puri               | yes                       | Quicklisp                             |

| uuid               | yes                       | Quicklisp                             |

| local-time         | yes                       | Quicklisp                             |

| cl-hooks           | yes                       | https://launchpad.net/cl-hooks        |

| cl-dynamic-classes | yes                       | "RSB Repository":https://code.cor-lab.org/svn/rsb/trunk/cl/cl-dynamic-classes/ |

| cxml-stp           | for XML event data        | Quicklisp                             |

| xpath              | for XPath event filtering | Quicklisp                             |

| cl-protobuf        | for Spread transport      | "RSB Repository":https://code.cor-lab.org/svn/rsb/trunk/cl/cl-protobuf/ |

| cl-spread          | for Spread transport      | "RSB Repository":https://code.cor-lab.org/svn/rsb/trunk/cl/cl-spread/ |

| -- libspread       | for Spread transport      | See C++ installation instructions     |

h3. Installation

# Download systems from Subversion repository:

#* @cl-rsb@: @svn export https://code.cor-lab.org/svn/rsb/trunk/cl/cl-rsb/@

#* @cl-dynamic-classes@: @svn export https://code.cor-lab.org/svn/rsb/trunk/cl/cl-dynamic-classes/@

#* @cl-protobuf@: @svn export https://code.cor-lab.org/svn/rsb/trunk/cl/cl-protobuf/@

#* @cl-spread@: @svn export https://code.cor-lab.org/svn/rsb/trunk/cl/cl-spread/@

# Download other required systems:

#* @cl-hooks@: @bzr branch lp:cl-hooks@

# Load @cl-rsb@ with Quicklisp to pull in remaining dependencies:

  @(ql:quickload :cl-rsb)@