Introduction

In order to make the SoT working all the environment variables in section Important environment variables need to be setup appropriatly. They need to be all coherent.

More precisely the order of the paths in the variables specify the order to search for libraries and plugins. They are important because a computer might have different (and often conflicting) libraries version. They need to be consistent together.

A script to realize the setup and to be set in your .bashrc file is given in Shell file

Important environment variables

This will set the following environment variables according to the argument. All of the variables are important and need to be setup correctly. As an example it we assume that you want to specify your environnement towards /opt/openrobots:

CMAKE_PREFIX_PATH
This variable specifies the directory where cmake is searching for libraries CMake target. It is also use by ROS to search for executables. For /opt/openrobots as the first directory to search it should be:
```
 CMAKE_PREFIX_PATH=/opt/openrobots:/whatever_was_before
```

LD_LIBRARY_PATH
Path to libraries.

 LD_LIBRARY_PATH=/opt/openrobots/lib:/opt/openrobots/lib/dynamic-graph-plugins:/whatever_was_before

PATH
Path of the binaries.

 PATH=/opt/openrobots/bin:/whatever_was_before

PKG_CONFIG_PATH
Paths to find the .pc files describing compilation flags and libraries. This is currently being deprecated for CMake export rules.
```
 PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:/whatever_was_before
```
PYTHON_PATH
Paths to find python modules. SoT install modules in site-packages directory (Python convention) instead of dist-packges (Ubuntu convention).
```
 PYTHON_PATH=/opt/openrobots/lib/site-package
```

ROS_PACKAGE_PATH
Path where ROS packages are installed

 ROS_PACKAGE_PATH=/opt/openrobots/share:/whatever_was_before

ROBOTPKG_BASE
Path where robotpkg is installed. This is not useful if you are not installing robotpkg from source

Shell file

To setup the environment variables you can use the script setup-sot.sh which can be download using:

wget https://raw.githubusercontent.com/stack-of-tasks/sot-doc/master/bash/setup-sot.sh

Modification of your configuration

To use it with the binary packages installed in /opt/openrobots:

source setup-sot.sh -p /opt/openrobots -r

Once you typed this command you can check that the previous variables have the string "/opt/openrobots". The order set the priority.

The directory /opt/openrobots will have the highest priority with respect to all the precited variables. This equivalent to workspace chaining in ROS.

It is recommended to handle this with aliases in your .bashrc file. You can for instance add the following line to your .bash_aliases

alias sop="source setup-sot.sh -p /opt/openrobots -r"