PocolibsΒΆ

To build Pocolibs bindings (the LAAS-CNRS middleware), you need to install Pocolibs on your system.

The recommended way to do it is through robotpkg (see robotpkg homepage for more informations).

To install:

$ cd $ROBOTPKG_BASE/robotpkg/middleware/pocolibs
$ make update

After that you will need to install the different modules you need to test using MORSE. This is done by going into the individual package directories and running make update.

Finally, you have to install the MORSE-Pocolibs bindings as well. At the time of writing, there are two options for installing, depending on the type of simulation needed, and they affect which modules will be linked:

  • hri (for human-robot interaction)
  • outdoor

To specify the type of simulation (outdoor in this example), it is necessary to edit the file $ROBOTPKG_BASE/etc/robotpkg.conf and add the line:

PKG_OPTIONS.morse-pocolibs += outdoor

After that, install the module with these instructions:

$ cd $ROBOTPKG_BASE/robotpkg/wip/morse-pocolibs
$ make update

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