rtt-gazebo-clock-plugin

Gazebo system plugin to sync the simulation time between RTT and Gazebo. Based on https://github.com/ahoarau/rtt_gazebo/tree/master/rtt_gazebo_system

Install

mkdir build

cd build

cmake -Dgazebo_DIR=$insert-prefix-here/lib/cmake/gazebo -DOROCOS-RTT_DIR=$insert-prefix-here/lib/cmake/orocos-rtt -Dignition-math2_DIR=$insert-prefix-here/lib/cmake/ignition-math2 -DSDFormat_DIR=$insert-prefix-here/lib/cmake/sdformat ..

make -j 4

TODO

• Exclude Eigen folder

Build Orocos Toolchain

1. git clone --recursive https://github.com/orocos-toolchain/orocos_toolchain.git
2. set COR_ORO_PREFIX to the install prefix
3. export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$COR_ORO_PREFIX
4. build package by package using: cmake -DCMAKE_INSTALL_PREFIX=${COR_ORO_PREFIX} -DCMAKE_PREFIX_PATH=${COR_ORO_PREFIX} .. except for RTT and OCL
5. build RTT with cmake -DCMAKE_INSTALL_PREFIX=${COR_ORO_PREFIX} -DCMAKE_PREFIX_PATH=${COR_ORO_PREFIX} -DENABLE_CORBA=ON -DOROCOS_TARGET=gnulinux -DCORBA_IMPLEMENTATION=OMNIORB ..
6. build OCL with cmake -DCMAKE_INSTALL_PREFIX=${COR_ORO_PREFIX} -DCMAKE_PREFIX_PATH=${COR_ORO_PREFIX} -DBUILD_TASKBROWSER=ON ..

// include RTT component in search path

RTT_COMPONENT_PATH=$RTT_COMPONENT_PATH:${COR_ORO_PREFIX}/lib/orocos:${COR_ORO_PREFIX}/lib/orocos/gnulinux/plugins:${COR_ORO_PREFIX}/lib/orocos/gnulinux/ocl:${COR_ORO_PREFIX}/lib/orocos/gnulinux/ocl/plugins