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 your PYTHONPATH ${PREFIX}/share/modules/python.

  • Morse relies on the environment variable LD_LIBRARY_PATH to localize libposterLib.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'
    

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