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