Pocolibs¶
To build Pocolibs bindings (the LAAS-CNRS middleware), you need to install Pocolibs on your system, and the different interface of needed modules.
The robotpkg way¶
The recommended way to do it is through robotpkg
(see robotpkg homepage for more information).
To install:
$ cd 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. To install it, you simply need to:
$ cd $ROBOTPKG_BASE/robotpkg/wip/morse-pocolibs
$ make update
The support for video camera output (viam) and depth camera output
(stereopixel) is optional as it requires explicitly to the according
module. You can add this specific support by configuring options of package
morse-pocolibs (by editing ${ROBOTPKG_BASE}/etc/robotpkg.conf
or on the
command line):
PKG_OPTIONS.morse-pocolibs += viam
Note
To make it working properly, you need to install all your genom modules
with the robotpkg python
option.
The manual way¶
If you want to build the interface for a genom module manually handled, do not
forget to pass the flag -y
to genom so it generates the cstruct python
interface
used by Morse to communicate with Pocolibs.
Specific configuration¶
In addition to the normal configuration necessary to Morse, you need to care about two other variables:
genom does not install python interface in the standard
PYTHONPATH
, so you need to add to yourPYTHONPATH
${PREFIX}/share/modules/python
.Morse relies on the environment variable
LD_LIBRARY_PATH
to localizelibposterLib.so
, which is used to communicate with pocolibs. If pocolibs has been installed with robotpkg, it is located in${ROBOTPKG_BASE}/lib
. It is not recommended to set globally the variable in your shell, so it is better to use an alias in your shell configuration file:alias morse = 'env LD_LIBRARY_PATH=${ROBOTPKG_BASE}/lib morse'