sot-doc  1.1.0
Documentation entry point for the Stack-Of-Tasks
doc/Installation.md
1 # Installation - Quick start {#c_installation_detailed}
2 
3 \section installation_detailed_from_binaries Installation from binary packages
4 
5 We are currently providing the stack of tasks through [robotpkg](https://robotpkg.openrobots.org),
6 the apt repository provided by LAAS. It is based on the NetBSD package system.
7 
8 \subsection installation_robotpkg Installing binaries - Quick start
9 
10 1. Setting a source.list file
11 Robotpkg has two apt repository: a main repository and a work-in-progress repository:
12 
13  sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
14  deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub $(lsb_release -cs) robotpkg
15  deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg
16  EOF
17 
18 
19 2. Register the robotpkg authentication key:
20 
21  curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
22 
23 
24 3. Update the list of available packages
25 Please follow the instructions given <a href="http://robotpkg.openrobots.org/debian.html">here</a> to access the package repository.
26 
27  sudo apt update
28 
29 4. Install the package sot-core-v3 you can use
30 
31  sudo apt install robotpkg-sot-core-v3
32 
33 
34  To get all packages available to simulate the TALOS robot available at LAAS:
35 
36  sudo apt install robotpkg-py27-talos-dev
37 
38 5. Now all has been installed in the directory /opt/openrobots.
39  You need to make sure that your environment variables are set correctly by following \ref d_setting_up_environment
40 
41 6. You can now try the tutorials.
42 
43 \subsection installation_robotpkg_status Status of the robotpkg binaries
44 
45 This NetBSD based system is currently testing the packages on a variety of UNIX distributions.
46 As robotpkg is providing the latest releases tested on TALOS Gazebo simulation
47 you can look [here](http://robotpkg.openrobots.org/rbulk/robotpkg-wip/all.html) to check the packages status.
48 But you have all the packages from robotpkg listed which does not make it very readable.
49 You can find a more readable entry in \ref status_robotpkg_binaries.
50 
51 \section installation_from_source Installing from source
52 
53 In order to develop inside the Stack-Of-Tasks you may want to install some robot packages such as
54 the [TALOS robot simulation environment](http://wiki.ros.org/Robots/TALOS/Tutorials/Installation/Simulation) or the [one provided for the TIAGO robot](http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/TiagoSimulation).
55 You also need to install the dependencies of each package. They are listed and integrated in robotpkg, and our
56 current advise is to install it through robotpkg.
57 
58 \subsection installation_from_source_robotpkg Installing from robotpkg (to prepare an environment)
59 
60 Please do not use this source installation methodology for development. Rather it is useful to setup a frozen development environment
61 similarly to the install directory of a ROS catkin workspace, or to prepare a docker file.
62 This environment will not evolve as you developped on top of it because you are fully in control.
63 
64 Please follow the instructions given [here](http://robotpkg.openrobots.org/install.html) to get the package repositories.
65 
66 You will also have to install the wip (work in progress) part of robotpkg. The installation procedure is described
67 [here](http://robotpkg.openrobots.org/robotpkg-wip.html).
68 
69 To compile and install the talos simulation environment, it is best to use the package <b>talos-simulation</b> then you can type:
70 
71  cd robotpkg/wip/talos-simulation
72  make install
73 
74 To compile the Stack-Of-Tasks control structure from source and not for development:
75 
76  cd robotpkg/wip/py-talos-dev
77  make install
78 
79 \subsection installation_from_source_old_school Installing each package manually
80 
81 1. Create an environment:
82 
83  mkdir -p /path_to_sot_ws/src /path_to_sot_ws/install /path_to_sot_ws/build
84  cd /path_to_sot_ws/src
85 
86 2. For a package (let us say dynamic-graph):
87 
88  git clone git@github.com:stack-of-tasks/dynamic-graph.git --recursive
89  cd ../build
90  mkdir dynamic-graph
91  cmake -DCMAKE_INSTALL_PREFIX=$PWD/../../install ../../src/dynamic-graph
92 
93 3. To build (with 8 threads):
94 
95  make -j 8
96 
97 4. To install:
98 
99  make install
100 
101 5. To run unit tests:
102 
103  make test
104 
105 6. To make documentation:
106 
107  make doc
108 
109 \subsection installation_from_source_catkin_build Installing from catkin (for development/experimental)
110 
111 The complete and detailed information can be found in \ref memo_catkin_tools
112 
113 The next step is to setup your environment by specifying environment variables.
114 
115 
116 
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