Installation from binary packages

We are currently providing the stack of tasks through robotpkg, the apt repository provided by LAAS. It is based on the NetBSD package system.

Installing binaries - Quick start

Setting a source.list file Robotpkg has two apt repository: a main repository and a work-in-progress repository:

sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub $(lsb_release -cs) robotpkg
deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg
EOF

Register the robotpkg authentication key:

 curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -

Update the list of available packages Please follow the instructions given here to access the package repository.
```
sudo apt update
```
Install the package sot-core-v3 you can use
```
 sudo apt install robotpkg-sot-core-v3
```
To get all packages available to simulate the TALOS robot available at LAAS:
```
sudo apt install robotpkg-py27-talos-dev
```
Now all has been installed in the directory /opt/openrobots. You need to make sure that your environment variables are set correctly by following Setting up your environment
You can now try the tutorials.

Status of the robotpkg binaries

This NetBSD based system is currently testing the packages on a variety of UNIX distributions. As robotpkg is providing the latest releases tested on TALOS Gazebo simulation you can look here to check the packages status. But you have all the packages from robotpkg listed which does not make it very readable. You can find a more readable entry in Status of the robotpkg binaries.

Installing from source

In order to develop inside the Stack-Of-Tasks you may want to install some robot packages such as the TALOS robot simulation environment or the one provided for the TIAGO robot. You also need to install the dependencies of each package. They are listed and integrated in robotpkg, and our current advise is to install it through robotpkg.

Installing from robotpkg (to prepare an environment)

Please do not use this source installation methodology for development. Rather it is useful to setup a frozen development environment similarly to the install directory of a ROS catkin workspace, or to prepare a docker file. This environment will not evolve as you developped on top of it because you are fully in control.

Please follow the instructions given here to get the package repositories.

You will also have to install the wip (work in progress) part of robotpkg. The installation procedure is described here.

To compile and install the talos simulation environment, it is best to use the package talos-simulation then you can type:

cd robotpkg/wip/talos-simulation
make install

To compile the Stack-Of-Tasks control structure from source and not for development:

cd robotpkg/wip/py-talos-dev
make install

Installing each package manually

Create an environment:

 mkdir -p /path_to_sot_ws/src /path_to_sot_ws/install /path_to_sot_ws/build
 cd /path_to_sot_ws/src

For a package (let us say dynamic-graph):

 git clone git@github.com:stack-of-tasks/dynamic-graph.git --recursive
 cd ../build
 mkdir dynamic-graph
 cmake  -DCMAKE_INSTALL_PREFIX=$PWD/../../install ../../src/dynamic-graph

To build (with 8 threads):
```
make -j 8
```
To install:
```
 make install
```
To run unit tests:
```
 make test
```
To make documentation:
```
 make doc
```

Installing from catkin (for development/experimental)

The complete and detailed information can be found in Using catkin tools and vcs for the SoT

The next step is to setup your environment by specifying environment variables.