Instalar OROCOS Tool Chain - ubuntu 12.04

• ir para a pasta do fuerte_workspace

 sudo apt-get install libreadline-dev omniorb omniidl omniorb-nameserver libomniorb4-1 libomniorb4-dev libomnithread3-dev libomnithread3c2 gccxml antlr libantlr-dev libxslt1-dev liblua5.1-0-dev ruby1.8-dev libruby1.8 rubygems1.8 

• download dos repositórios:

git clone --recursive git://gitorious.org/orocos-toolchain/orocos_toolchain.git
git clone http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git
git clone http://git.mech.kuleuven.be/robotics/rtt_ros_comm.git
git clone http://git.mech.kuleuven.be/robotics/rtt_common_msgs.git
git clone http://git.mech.kuleuven.be/robotics/rtt_geometry.git

• fazer os seguintes passos:

roscd orocos_toolchain
git submodule init
git submodule update
source env.sh

• fazer o make de cada um dos packages, melhor em separado:

rosmake orocos_toolchain 
rosmake rtt_ros_integration
rosmake rtt_ros_comm
rosmake rtt_common_msgs
rosmake rtt_geometry
rosmake rtt_nav_msgs

realizado com base em: http://www.ros.org/wiki/orocos_toolchain_ros