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Robot Operating System (ROS) is a meta-operating system for your robot.

Browse source 
It provides several services for a robot control system, including but
not limited to:
* language-independent and network-transparent communication
* including hardware abstraction
* low-level device control
* implementation of commonly-used functionality
* message-passing between processes

This port provides the core part of ROS: the base system and the tools
to develop additional nodes. These additional nodes can be installed
manually by using something like:
% svn co `roslocate svn nodename` nodename
  (or git clone `roslocate svn nodename` nodename)
% rosmake nodename

WWW: http://www.ros.org/wiki/
This commit is contained in:
Rene Ladan 2010-10-22 09:13:00 +00:00
parent bb5e018ab1
commit 9e0ca7855a
Notes: svn2git 2021-03-31 03:12:20 +00:00 
svn path=/head/; revision=263429
28 changed files with 18560 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

340
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# New ports collection makefile for: ros
# Date created: 2010-08-01
# Whom: Rene Ladan <rene@FreeBSD.org>
#
# $FreeBSD$
PORTNAME= ros
PORTVERSION= 1.2.3
CATEGORIES= devel
MASTER_SITES= ftp://rene-ladan.nl/pub/distfiles/
MAINTAINER= rene@freebsd.org
COMMENT= Robot Operating System - core utilities
LICENSE= BSD
WRKSRC= ${WRKDIR}/${PORTNAME}
LIB_DEPENDS= log4cxx.10:${PORTSDIR}/devel/log4cxx \
boost_python:${PORTSDIR}/devel/boost-python-libs
# we need cmake and gmake for the build, but the build is triggered by make
BUILD_DEPENDS= ${PYTHON_SITELIBDIR}/yaml/__init__.py:${PORTSDIR}/devel/py-yaml \
bash:${PORTSDIR}/shells/bash \
chrpath:${PORTSDIR}/devel/chrpath \
cmake:${PORTSDIR}/devel/cmake \
gmake:${PORTSDIR}/devel/gmake
RUN_DEPENDS= ${PYTHON_SITELIBDIR}/matplotlib/__init__.py:${PORTSDIR}/math/py-matplotlib \
${PYTHON_SITELIBDIR}/paramiko/__init__.py:${PORTSDIR}/security/py-paramiko \
${PYTHON_SITELIBDIR}/yaml/__init__.py:${PORTSDIR}/devel/py-yaml \
bash:${PORTSDIR}/shells/bash \
cmake:${PORTSDIR}/devel/cmake \
doxygen:${PORTSDIR}/devel/doxygen \
epydoc:${PORTSDIR}/devel/epydoc \
f2py:${PORTSDIR}/math/py-numpy \
gmake:${PORTSDIR}/devel/gmake \
dot:${PORTSDIR}/graphics/graphviz \
pilconvert.py:${PORTSDIR}/graphics/py-imaging \
sudo:${PORTSDIR}/security/sudo \
wget:${PORTSDIR}/ftp/wget
USE_GNOME= pkgconfig pygtk2
USE_PYTHON= yes
USE_WX= 2.8
WX_COMPS= python:build python:run
USE_BZIP2= yes
USE_LDCONFIG= yes
.include <bsd.port.pre.mk>
.if ${OSVERSION} < 700000
BROKEN=Does not link, librt missing
.endif
# rosmake can't run make properly with multiple jobs enabled
MAKE_JOBS_UNSAFE= yes
MAKE_ENV+= CPATH=${LOCALBASE}/include \
EXTRA_CMAKE_FLAGS="-DwxWidgets_CONFIG_EXECUTABLE=${WX_CONFIG}" \
MAKE=${LOCALBASE}/bin/gmake \
PATH=${PATH}:${WRKSRC}/bin \
PYTHONPATH=${WRKSRC}/core/roslib/src \
ROS_BOOST_ROOT=${LOCALBASE} \
ROS_PACKAGE_PATH= \
ROS_ROOT=${WRKSRC}
ALL_TARGET=
SUB_FILES= pkg-message
SUB_LIST= LOCALBASE=${LOCALBASE} \
PREFIX=${PREFIX} \
WX_CONFIG=${WX_CONFIG}
PORTDOCS= AUTHORS README
post-extract:
# fix path to the wx configure tool and bash
${REINPLACE_CMD} -E -e "s|wx-config|${WX_CONFIG}|" \
${WRKSRC}/3rdparty/wxswig/manifest.xml
${GREP} -l -r "^#\!/bin/bash" ${WRKSRC} | ${XARGS} \
${REINPLACE_CMD} -E -e "s|#!/bin/bash|#!${LOCALBASE}/bin/bash|"
pre-build:
.if exists(${LOCALBASE}/lib/libgtest.so)
# temporarily move libraries from devel/googletest out of the way
.for f in .a .la .so .so.* _main.a _main.la _main.so _main.so.*
${MV} ${LOCALBASE}/lib/libgtest${f} /var/tmp
.endfor
.endif
# temporarily alter how ROS is built for the port build
${REINPLACE_CMD} -E -e "s|--rosdep-install|--no-rosdep --disable-logging -i|" \
${WRKSRC}/Makefile
post-build:
.if exists(/var/tmp/libgtest.so)
# restore libraries from devel/googletest
.for f in .a .la .so .so.* _main.a _main.la _main.so _main.so.*
${MV} /var/tmp/libgtest${f} ${LOCALBASE}/lib
.endfor
.endif
# restore original ROS Makefile
${MV} ${WRKSRC}/Makefile.bak ${WRKSRC}/Makefile
do-install:
${MKDIR} -p ${PREFIX}/${PORTNAME}/bin
.for f in rospack rosplay rosrecord rosstack rxconsole rxloggerlevel
${LOCALBASE}/bin/chrpath -d ${WRKSRC}/bin/${f}
${INSTALL_PROGRAM} ${WRKSRC}/bin/${f} ${PREFIX}/${PORTNAME}/bin
${LN} -s ${PREFIX}/${PORTNAME}/bin/${f} ${PREFIX}/bin/${f}
.endfor
.for f in rosbag rosboost-cfg rosclean rosconfig roscore roscreate-pkg \
roscreate-stack rosdep rosgraph roslaunch roslaunch-deps roslaunch-logs \
roslocate rosmake rosmaster rosmsg rosnode rosparam rosrebag rosrun \
rosservice rossrv rostest rostopic rosversion roswtf rxbag rxdeps rxgraph rxplot
${INSTALL_SCRIPT} ${WRKSRC}/bin/${f} ${PREFIX}/${PORTNAME}/bin
${LN} -s ${PREFIX}/${PORTNAME}/bin/${f} ${PREFIX}/bin/${f}
.endfor
${INSTALL_DATA} ${WRKSRC}/bin/rospack_nosubdirs ${PREFIX}/${PORTNAME}/bin
.for f in CMakeLists.txt Makefile rosdep.yaml stack.xml
${INSTALL_DATA} ${WRKSRC}/${f} ${PREFIX}/${PORTNAME}
.endfor
# delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
.for d in 3rdparty config core std_msgs std_srvs test tools
${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
-or -name .svnignore -type f -or -name .cvsignore -type f \
-or -name \*.orig | ${XARGS} ${RM} -rf
(cd ${WRKSRC} && ${COPYTREE_SHARE} ${d} ${PREFIX}/${PORTNAME})
.endfor
# strip and move libraries to PREFIX/lib (except gtest)
.for f in core/message_filters/lib/libmessage_filters.so \
core/rosconsole/lib/librosconsole.so core/roscpp/lib/libros.so \
core/roslib/lib/libroslib.so \
test/performance/perf_roscpp/lib/libperf_roscpp.so \
tools/rosbag/lib/librosbag.so tools/rospack/lib/librospack.so \
tools/rospack/lib/librosstack.so tools/rosrecord/lib/librosrecorder.so \
tools/rxtools/lib/librxtools.so tools/rxtools/lib/_rxtoolscpp.so \
tools/topic_tools/lib/libtopic_tools.so 3rdparty/xmlrpcpp/lib/libXmlRpc.so
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
${MV} ${PREFIX}/${PORTNAME}/${f} ${PREFIX}/lib
.endfor
# strip gtest libraries
.for f in 3rdparty/gtest/gtest/lib/libgtest.so.0 \
3rdparty/gtest/gtest/lib/libgtest_main.so.0
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
.endfor
# strip ELF binaries and make them executable
.for f in 3rdparty/wxswig/bin/swig-real core/genmsg_cpp/genmsg_java \
core/genmsg_cpp/genmsg_lisp core/genmsg_cpp/genmsg_oct \
core/genmsg_cpp/gensrv_java core/genmsg_cpp/gensrv_lisp \
core/genmsg_cpp/gensrv_oct core/rosout/rosout \
test/performance/perf_roscpp/bin/intra_suite \
test/performance/test_roscpp_serialization_perf/pointcloud_serdes \
test/test_roscpp/bin/check_master \
test/test_roscpp/bin/get_master_information test/test_roscpp/bin/handles \
test/test_roscpp/bin/incrementing_sequence test/test_roscpp/bin/inspection \
test/test_roscpp/bin/intraprocess_subscriptions \
test/test_roscpp/bin/latching_publisher \
test/test_roscpp/bin/loads_of_publishers \
test/test_roscpp/bin/log test/test_roscpp/bin/multiple_init_fini \
test/test_roscpp/bin/multiple_subscriptions \
test/test_roscpp/bin/name_remapping \
test/test_roscpp/bin/name_remapping_with_ns \
test/test_roscpp/bin/namespaces \
test/test_roscpp/bin/nonconst_subscriptions \
test/test_roscpp/bin/param_update_test \
test/test_roscpp/bin/parameter_validation test/test_roscpp/bin/params \
test/test_roscpp/bin/pub_sub test/test_roscpp/bin/publish_constantly \
test/test_roscpp/bin/publish_empty test/test_roscpp/bin/publish_n_fast \
test/test_roscpp/bin/publish_onsub \
test/test_roscpp/bin/publish_unadvertise \
test/test_roscpp/bin/publisher_for_star_subscriber \
test/test_roscpp/bin/real_time_test test/test_roscpp/bin/service_adv \
test/test_roscpp/bin/service_adv_a \
test/test_roscpp/bin/service_adv_multiple \
test/test_roscpp/bin/service_adv_unadv test/test_roscpp/bin/service_call \
test/test_roscpp/bin/service_call_expect_b \
test/test_roscpp/bin/service_call_repeatedly \
test/test_roscpp/bin/service_callback_types \
test/test_roscpp/bin/service_wait_a_adv_b \
test/test_roscpp/bin/sim_time_test test/test_roscpp/bin/sub_pub \
test/test_roscpp/bin/subscribe_empty test/test_roscpp/bin/subscribe_n_fast \
test/test_roscpp/bin/subscribe_resubscribe \
test/test_roscpp/bin/subscribe_retry_tcp \
test/test_roscpp/bin/subscribe_self test/test_roscpp/bin/subscribe_star \
test/test_roscpp/bin/subscribe_unsubscribe \
test/test_roscpp/bin/subscribe_unsubscribe_repeatedly \
test/test_roscpp/bin/subscription_callback_types \
test/test_roscpp/bin/timer_callbacks test/test_roscpp/bin/wait_for_message \
test/test_roscpp_serialization/bin/builtin_types \
test/test_roscpp_serialization/bin/pre_deserialize tools/rosbag/bin/play \
tools/rosbag/bin/record tools/rosrecord/bin/rosplay \
tools/rosrecord/bin/rosrecord tools/rxtools/bin/rxconsole \
tools/rxtools/bin/rxloggerlevel tools/topic_tools/bin/drop \
tools/topic_tools/bin/mux tools/topic_tools/bin/relay \
tools/topic_tools/bin/switch_mux tools/topic_tools/bin/throttle \
tools/topic_tools/test/test_shapeshifter
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
${CHMOD} 0555 ${PREFIX}/${PORTNAME}/${f}
.endfor
# make scripts executable
.for f in 3rdparty/gtest/gtest/bin/gtest-config 3rdparty/wxswig/bin/swig \
core/rosbuild/bin/check_same_directories.py \
core/rosbuild/bin/checkout_latest_stable \
core/rosbuild/bin/create_release.py core/rosbuild/bin/download_checkmd5.py \
core/rosbuild/bin/makestackdist core/rosbuild/bin/package_source.py \
core/rosbuild/bin/roscheck \
core/rosbuild/bin/rosgcov core/rosbuild/bin/rosgcov_summarize \
core/rosbuild/bin/rosmakeall core/rosbuild/bin/rosmakeall_osx \
core/rosbuild/bin/rosmakeall_stackdist core/rosbuild/bin/rossvnignore \
core/rosbuild/bin/rostar core/rosbuild/tests/count_cores.py \
core/rosconsole/scripts/generate_macros.py \
core/rosconsole/scripts/generate_speed_test.py \
core/roscpp/scripts/genmsg_cpp.py core/roscpp/scripts/genmsgtest \
core/roscpp/scripts/gensrv_cpp.py core/roslib/scripts/gendeps \
core/roslib/scripts/pythontest core/roslisp/s-xml-rpc/test/test.b64 \
core/roslisp/scripts/genmsg_lisp.py core/roslisp/scripts/make_node_exec \
core/roslisp/scripts/make_roslisp_image core/rosout/rosout_agg_listener \
core/rosout/rosout_talker core/rospy/scripts/genmsg_py.py \
core/rospy/scripts/gensrv_py.py test/rostest/bin/catunit \
test/rostest/bin/cleanunit test/rostest/bin/coverage-html \
test/rostest/bin/roslaunch-check.py test/rostest/bin/rostest \
test/rostest/bin/rostest-check-results test/rostest/bin/rostest-results \
test/rostest/bin/test-results-dir test/rostest/nodes/hztest \
test/rostest/test/time_limit_test.py \
test/test_ros/nodes/add_two_ints_client \
test/test_ros/nodes/add_two_ints_server \
test/test_ros/nodes/fail_two_ints_server test/test_ros/nodes/listener.py \
test/test_ros/nodes/talker.py test/test_ros/nodes/testAllCommonFlows \
test/test_ros/nodes/testMaster test/test_ros/nodes/testSlave \
test/test_ros/test/test_master_api.py test/test_ros/test/test_node_api.py \
test/test_ros/test/test_ps_encapsulation.py \
test/test_ros/test/test_ps_get_param.py \
test/test_ros/test/test_ps_has_param.py \
test/test_ros/test/test_ps_private_names.py \
test/test_ros/test/test_ps_scope_down.py \
test/test_ros/test/test_ps_scope_up.py \
test/test_ros/test/test_ps_search_param.py \
test/test_ros/test/test_ps_set_param.py \
test/test_ros/test/test_ps_values.py test/test_ros/test/test_roslocate.py \
test/test_rosbag/current test/test_rosbag/gen1 test/test_rosbag/gen2 \
test/test_rosbag/gen3 test/test_rosbag/generate_data \
test/test_rosbag/scripts/generate_data_1.py \
test/test_rosbag/scripts/generate_data_2.py \
test/test_rosbag/scripts/generate_data_3.py \
test/test_rosbag/test/migrate_test.py test/test_rosbag/test/random_play.py \
test/test_rosbag/test/random_record.py test/test_rosbagmigration/current \
test/test_rosbagmigration/gen1 test/test_rosbagmigration/gen2 \
test/test_rosbagmigration/gen3 test/test_rosbagmigration/generate_data \
test/test_rosbagmigration/scripts/generate_data_1.py \
test/test_rosbagmigration/scripts/generate_data_2.py \
test/test_rosbagmigration/scripts/generate_data_3.py \
test/test_rosbagmigration/test/migrate_test.py \
test/test_rosgraph/test/test_rosgraph_masterapi_online.py \
test/test_roslaunch/test/env.py test/test_roslaunch/test/params_basic.py \
test/test_roslaunch/test/test_roslaunch_command_line_online.py \
test/test_roslaunch/test/test_xmlloader.py \
test/test_roslib/test/fake_node.py \
test/test_roslib/test/test_roslib_masterapi_online.py \
test/test_rosmake/test/test_parallel_build.py \
test/test_rosnode/test/test_rosnode_command_online.py \
test/test_rospack/test/rosbar/scripts/genmsg_bar \
test/test_rospack/test/rosfoo/scripts/genmsg_foo \
test/test_rospack/test/utest_rosstack.py \
test/test_rosparam/test/test_rosparam.py \
test/test_rosparam/test/test_rosparam_command_line_online.py \
test/test_rospy/nodes/listener.py \
test/test_rospy/nodes/publish_on_shutdown.py \
test/test_rospy/nodes/talker.py test/test_rospy/test/listenerpublisher.py \
test/test_rospy/test/listenerpublisher_embed.py \
test/test_rospy/test/talker test/test_rospy/test/test_basic_services.py \
test/test_rospy/test/test_client_param_api.py \
test/test_rospy/test/test_client_param_server.py \
test/test_rospy/test/test_deregister.py \
test/test_rospy/test/test_embed_msg.py \
test/test_rospy/test/test_empty_service.py \
test/test_rospy/test/test_latch.py test/test_rospy/test/test_node.py \
test/test_rospy/test/test_on_shutdown.py \
test/test_rospy/test/test_pubsub_order.py \
test/test_rospy/test/test_rospy_client_online.py \
test/test_rospy/test/test_service_failure.py \
test/test_rospy/test/test_service_order.py \
test/test_rosrecord/scripts/generate_data.py \
test/test_rosrecord/test/random_play.py \
test/test_rosrecord/test/random_pub_node.py \
test/test_rosrecord/test/random_record.py \
test/test_rosrecord/test/rename_test.py \
test/test_rosservice/test/test_rosservice.py \
test/test_rosservice/test/test_rosservice_command_line_online.py \
test/test_rostopic/test/test_rostopic.py \
test/test_rostopic/test/test_rostopic_command_line_online.py \
test/test_roswtf/test/test_roswtf_command_line_online.py \
tools/rosbag/bin/rosbag tools/rosbag/scripts/bag2png.py \
tools/rosbag/scripts/bagsort.py tools/rosbag/scripts/fastrebag.py \
tools/rosbag/scripts/fix_md5sums.py \
tools/rosbag/scripts/fix_moved_messages.py tools/rosbag/scripts/fixbag.py \
tools/rosbag/scripts/fixbag_batch.py tools/rosbag/scripts/makerule.py \
tools/rosbag/scripts/savemsg.py tools/rosbag/scripts/slash.py \
tools/rosbag/scripts/topic_renamer.py tools/rosbag/test/latched_pub.py \
tools/rosbag/test/latched_sub.py tools/rosbagmigration/scripts/checkbag.py \
tools/rosbagmigration/scripts/fixbag.py \
tools/rosbagmigration/scripts/fixbag_batch.py \
tools/rosbagmigration/scripts/makerule.py \
tools/rosbagmigration/scripts/savemsg.py \
tools/rosdep/installers/preinstall.macports tools/rosdep/scripts/rosdep \
tools/rosdoc/rosdoc tools/rosdoc/scripts/checkout.py \
tools/rosdoc/scripts/upload tools/rosemacs/poll-rosnode \
tools/rosemacs/poll-rostopic tools/rosgraph/nodes/rosgraph \
tools/rosgraph/nodes/rxgraph tools/roslaunch/bin/roslaunch \
tools/roslaunch/bin/roslaunch-console tools/rospack/markstack \
tools/rospack/rosalldeps tools/rospack/rosallpkgs \
tools/rospack/roscachesvncert tools/rospack/rospack_lite.py \
tools/rospack/rossearch tools/rosrecord/scripts/bag2png.py \
tools/rosrecord/scripts/bagsort.py tools/rosrecord/scripts/fastrebag.py \
tools/rosrecord/scripts/fix_md5sums.py \
tools/rosrecord/scripts/fix_moved_messages.py \
tools/rosrecord/test/test_rosrecord_offline.py \
tools/rosservice/bin/rosservice tools/rostopic/bin/rostopic \
tools/roswtf/bin/roswtf tools/rxbag/scripts/rxbag \
tools/rxtools/nodes/rxplot tools/topic_tools/demos/test_drop \
tools/topic_tools/demos/test_mux tools/topic_tools/demos/test_relay \
tools/topic_tools/demos/test_throttle tools/topic_tools/scripts/mux_add \
tools/topic_tools/scripts/mux_delete tools/topic_tools/scripts/mux_list \
tools/topic_tools/scripts/mux_select \
tools/topic_tools/test/test_mux_delete_add.py \
tools/topic_tools/test/test_mux_services.py tools/xdot/dot_viewer.py
${CHMOD} 0555 ${PREFIX}/${PORTNAME}/${f}
.endfor
.if !defined(NOPORTDOCS)
${MKDIR} ${DOCSDIR}
${INSTALL_DATA} ${WRKSRC}/AUTHORS ${DOCSDIR}
${INSTALL_DATA} ${WRKSRC}/README ${DOCSDIR}
.endif
post-install:
@${CAT} ${PKGMESSAGE}
.include <bsd.port.post.mk>

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MD5 (ros-1.2.3.tar.bz2) = 0f7e04efb2f4ae16b76c237a250208f6
SHA256 (ros-1.2.3.tar.bz2) = 4061e746a45f90592a01b22db04849a3e2c8201c0cc3009206c32c23962f7478
SIZE (ros-1.2.3.tar.bz2) = 1534842

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Index: rosdep.yaml
===================================================================
--- rosdep.yaml (revision 11635)
+++ rosdep.yaml (working copy)
@@ -14,7 +14,7 @@
macports: apr apr-util
gentoo: dev-libs/apr dev-libs/apr-util
cygwin: libapr1 libaprutil1
- freebsd: apr-ipv6-gdbm-db42
+ freebsd: builtin # i.e. ignore, only needed to manually build log4cxx on other OSes
python:
ubuntu: python-dev
debian: python-dev
@@ -161,7 +161,6 @@
gentoo: dev-libs/boost
cygwin: libboost-devel libboost1.40
freebsd: boost-python-libs
- # freebsd: boost-pyste is more complete
zlib:
ubuntu: zlib1g-dev
debian: zlib1g-dev
@@ -351,7 +350,7 @@
arch: autoconf
macports: autoconf
gentoo: sys-devel/autoconf
- freebsd: autoconf213 autoconf262
+ freebsd: autoconf213 autoconf268
automake:
ubuntu: automake
debian: automake
@@ -360,7 +359,7 @@
arch: automake
macports: automake
gentoo: sys-devel/automake
- freebsd: automake14 automake15 automake16 automake17 automake18 automake19 automake110
+ freebsd: automake14 automake111
libtool:
ubuntu:
'10.04': libtool libltdl-dev

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Index: core/roslib/src/roslib/packages.py
===================================================================
--- core/roslib/src/roslib/packages.py (revision 11635)
+++ core/roslib/src/roslib/packages.py (working copy)
@@ -502,7 +502,8 @@
if m in files:
test_path = os.path.join(p, node_type)
s = os.stat(test_path)
- if (s.st_mode & stat.S_IRWXU == stat.S_IRWXU):
+ if (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) ==
+ (stat.S_IRUSR | stat.S_IXUSR)):
return test_path
if '.svn' in dirs:
dirs.remove('.svn')
@@ -514,7 +515,8 @@
if node_type in files:
test_path = os.path.join(p, node_type)
s = os.stat(test_path)
- if (s.st_mode & stat.S_IRWXU == stat.S_IRWXU):
+ if (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) ==
+ (stat.S_IRUSR | stat.S_IXUSR)):
return test_path
if '.svn' in dirs:
dirs.remove('.svn')

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To use ROS, add these variables to your environment:
ROS_MASTER_URI <HTTP address of the host running the ROS master>
ROS_PACKAGE_PATH <a directory where you will store additional ROS software>
ROS_ROOT %%PREFIX%%/ros
PYTHONPATH $ROS_ROOT/core/roslib/src
OCTAVE_PATH $ROS_ROOT/core/experimental/rosoct/octave
If you intend to build software with ROS:
CPATH %%LOCALBASE%%/include
EXTRA_CMAKE_FLAGS -DwxWidgets_CONFIG_EXECUTABLE=%%WX_CONFIG%%
MAKE %%LOCALBASE%%/bin/gmake
ROS_BOOST_ROOT %%LOCALBASE%%

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Robot Operating System (ROS) is a meta-operating system for your robot.
It provides several services for a robot control system, including but
not limited to:
* language-independent and network-transparent communication
* including hardware abstraction
* low-level device control
* implementation of commonly-used functionality
* message-passing between processes
This port provides the core part of ROS: the base system and the tools
to develop additional nodes. These additional nodes can be installed
manually by using something like:
% svn co `roslocate svn nodename` nodename
(or git clone `roslocate svn nodename` nodename)
% rosmake nodename
WWW: http://www.ros.org/wiki/

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# New ports collection makefile for: ros
# Date created: 2010-08-01
# Whom: Rene Ladan <rene@FreeBSD.org>
#
# $FreeBSD$
PORTNAME= ros
PORTVERSION= 1.2.3
CATEGORIES= devel
MASTER_SITES= ftp://rene-ladan.nl/pub/distfiles/
MAINTAINER= rene@freebsd.org
COMMENT= Robot Operating System - core utilities
LICENSE= BSD
WRKSRC= ${WRKDIR}/${PORTNAME}
LIB_DEPENDS= log4cxx.10:${PORTSDIR}/devel/log4cxx \
boost_python:${PORTSDIR}/devel/boost-python-libs
# we need cmake and gmake for the build, but the build is triggered by make
BUILD_DEPENDS= ${PYTHON_SITELIBDIR}/yaml/__init__.py:${PORTSDIR}/devel/py-yaml \
bash:${PORTSDIR}/shells/bash \
chrpath:${PORTSDIR}/devel/chrpath \
cmake:${PORTSDIR}/devel/cmake \
gmake:${PORTSDIR}/devel/gmake
RUN_DEPENDS= ${PYTHON_SITELIBDIR}/matplotlib/__init__.py:${PORTSDIR}/math/py-matplotlib \
${PYTHON_SITELIBDIR}/paramiko/__init__.py:${PORTSDIR}/security/py-paramiko \
${PYTHON_SITELIBDIR}/yaml/__init__.py:${PORTSDIR}/devel/py-yaml \
bash:${PORTSDIR}/shells/bash \
cmake:${PORTSDIR}/devel/cmake \
doxygen:${PORTSDIR}/devel/doxygen \
epydoc:${PORTSDIR}/devel/epydoc \
f2py:${PORTSDIR}/math/py-numpy \
gmake:${PORTSDIR}/devel/gmake \
dot:${PORTSDIR}/graphics/graphviz \
pilconvert.py:${PORTSDIR}/graphics/py-imaging \
sudo:${PORTSDIR}/security/sudo \
wget:${PORTSDIR}/ftp/wget
USE_GNOME= pkgconfig pygtk2
USE_PYTHON= yes
USE_WX= 2.8
WX_COMPS= python:build python:run
USE_BZIP2= yes
USE_LDCONFIG= yes
.include <bsd.port.pre.mk>
.if ${OSVERSION} < 700000
BROKEN=Does not link, librt missing
.endif
# rosmake can't run make properly with multiple jobs enabled
MAKE_JOBS_UNSAFE= yes
MAKE_ENV+= CPATH=${LOCALBASE}/include \
EXTRA_CMAKE_FLAGS="-DwxWidgets_CONFIG_EXECUTABLE=${WX_CONFIG}" \
MAKE=${LOCALBASE}/bin/gmake \
PATH=${PATH}:${WRKSRC}/bin \
PYTHONPATH=${WRKSRC}/core/roslib/src \
ROS_BOOST_ROOT=${LOCALBASE} \
ROS_PACKAGE_PATH= \
ROS_ROOT=${WRKSRC}
ALL_TARGET=
SUB_FILES= pkg-message
SUB_LIST= LOCALBASE=${LOCALBASE} \
PREFIX=${PREFIX} \
WX_CONFIG=${WX_CONFIG}
PORTDOCS= AUTHORS README
post-extract:
# fix path to the wx configure tool and bash
${REINPLACE_CMD} -E -e "s|wx-config|${WX_CONFIG}|" \
${WRKSRC}/3rdparty/wxswig/manifest.xml
${GREP} -l -r "^#\!/bin/bash" ${WRKSRC} | ${XARGS} \
${REINPLACE_CMD} -E -e "s|#!/bin/bash|#!${LOCALBASE}/bin/bash|"
pre-build:
.if exists(${LOCALBASE}/lib/libgtest.so)
# temporarily move libraries from devel/googletest out of the way
.for f in .a .la .so .so.* _main.a _main.la _main.so _main.so.*
${MV} ${LOCALBASE}/lib/libgtest${f} /var/tmp
.endfor
.endif
# temporarily alter how ROS is built for the port build
${REINPLACE_CMD} -E -e "s|--rosdep-install|--no-rosdep --disable-logging -i|" \
${WRKSRC}/Makefile
post-build:
.if exists(/var/tmp/libgtest.so)
# restore libraries from devel/googletest
.for f in .a .la .so .so.* _main.a _main.la _main.so _main.so.*
${MV} /var/tmp/libgtest${f} ${LOCALBASE}/lib
.endfor
.endif
# restore original ROS Makefile
${MV} ${WRKSRC}/Makefile.bak ${WRKSRC}/Makefile
do-install:
${MKDIR} -p ${PREFIX}/${PORTNAME}/bin
.for f in rospack rosplay rosrecord rosstack rxconsole rxloggerlevel
${LOCALBASE}/bin/chrpath -d ${WRKSRC}/bin/${f}
${INSTALL_PROGRAM} ${WRKSRC}/bin/${f} ${PREFIX}/${PORTNAME}/bin
${LN} -s ${PREFIX}/${PORTNAME}/bin/${f} ${PREFIX}/bin/${f}
.endfor
.for f in rosbag rosboost-cfg rosclean rosconfig roscore roscreate-pkg \
roscreate-stack rosdep rosgraph roslaunch roslaunch-deps roslaunch-logs \
roslocate rosmake rosmaster rosmsg rosnode rosparam rosrebag rosrun \
rosservice rossrv rostest rostopic rosversion roswtf rxbag rxdeps rxgraph rxplot
${INSTALL_SCRIPT} ${WRKSRC}/bin/${f} ${PREFIX}/${PORTNAME}/bin
${LN} -s ${PREFIX}/${PORTNAME}/bin/${f} ${PREFIX}/bin/${f}
.endfor
${INSTALL_DATA} ${WRKSRC}/bin/rospack_nosubdirs ${PREFIX}/${PORTNAME}/bin
.for f in CMakeLists.txt Makefile rosdep.yaml stack.xml
${INSTALL_DATA} ${WRKSRC}/${f} ${PREFIX}/${PORTNAME}
.endfor
# delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
.for d in 3rdparty config core std_msgs std_srvs test tools
${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
-or -name .svnignore -type f -or -name .cvsignore -type f \
-or -name \*.orig | ${XARGS} ${RM} -rf
(cd ${WRKSRC} && ${COPYTREE_SHARE} ${d} ${PREFIX}/${PORTNAME})
.endfor
# strip and move libraries to PREFIX/lib (except gtest)
.for f in core/message_filters/lib/libmessage_filters.so \
core/rosconsole/lib/librosconsole.so core/roscpp/lib/libros.so \
core/roslib/lib/libroslib.so \
test/performance/perf_roscpp/lib/libperf_roscpp.so \
tools/rosbag/lib/librosbag.so tools/rospack/lib/librospack.so \
tools/rospack/lib/librosstack.so tools/rosrecord/lib/librosrecorder.so \
tools/rxtools/lib/librxtools.so tools/rxtools/lib/_rxtoolscpp.so \
tools/topic_tools/lib/libtopic_tools.so 3rdparty/xmlrpcpp/lib/libXmlRpc.so
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
${MV} ${PREFIX}/${PORTNAME}/${f} ${PREFIX}/lib
.endfor
# strip gtest libraries
.for f in 3rdparty/gtest/gtest/lib/libgtest.so.0 \
3rdparty/gtest/gtest/lib/libgtest_main.so.0
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
.endfor
# strip ELF binaries and make them executable
.for f in 3rdparty/wxswig/bin/swig-real core/genmsg_cpp/genmsg_java \
core/genmsg_cpp/genmsg_lisp core/genmsg_cpp/genmsg_oct \
core/genmsg_cpp/gensrv_java core/genmsg_cpp/gensrv_lisp \
core/genmsg_cpp/gensrv_oct core/rosout/rosout \
test/performance/perf_roscpp/bin/intra_suite \
test/performance/test_roscpp_serialization_perf/pointcloud_serdes \
test/test_roscpp/bin/check_master \
test/test_roscpp/bin/get_master_information test/test_roscpp/bin/handles \
test/test_roscpp/bin/incrementing_sequence test/test_roscpp/bin/inspection \
test/test_roscpp/bin/intraprocess_subscriptions \
test/test_roscpp/bin/latching_publisher \
test/test_roscpp/bin/loads_of_publishers \
test/test_roscpp/bin/log test/test_roscpp/bin/multiple_init_fini \
test/test_roscpp/bin/multiple_subscriptions \
test/test_roscpp/bin/name_remapping \
test/test_roscpp/bin/name_remapping_with_ns \
test/test_roscpp/bin/namespaces \
test/test_roscpp/bin/nonconst_subscriptions \
test/test_roscpp/bin/param_update_test \
test/test_roscpp/bin/parameter_validation test/test_roscpp/bin/params \
test/test_roscpp/bin/pub_sub test/test_roscpp/bin/publish_constantly \
test/test_roscpp/bin/publish_empty test/test_roscpp/bin/publish_n_fast \
test/test_roscpp/bin/publish_onsub \
test/test_roscpp/bin/publish_unadvertise \
test/test_roscpp/bin/publisher_for_star_subscriber \
test/test_roscpp/bin/real_time_test test/test_roscpp/bin/service_adv \
test/test_roscpp/bin/service_adv_a \
test/test_roscpp/bin/service_adv_multiple \
test/test_roscpp/bin/service_adv_unadv test/test_roscpp/bin/service_call \
test/test_roscpp/bin/service_call_expect_b \
test/test_roscpp/bin/service_call_repeatedly \
test/test_roscpp/bin/service_callback_types \
test/test_roscpp/bin/service_wait_a_adv_b \
test/test_roscpp/bin/sim_time_test test/test_roscpp/bin/sub_pub \
test/test_roscpp/bin/subscribe_empty test/test_roscpp/bin/subscribe_n_fast \
test/test_roscpp/bin/subscribe_resubscribe \
test/test_roscpp/bin/subscribe_retry_tcp \
test/test_roscpp/bin/subscribe_self test/test_roscpp/bin/subscribe_star \
test/test_roscpp/bin/subscribe_unsubscribe \
test/test_roscpp/bin/subscribe_unsubscribe_repeatedly \
test/test_roscpp/bin/subscription_callback_types \
test/test_roscpp/bin/timer_callbacks test/test_roscpp/bin/wait_for_message \
test/test_roscpp_serialization/bin/builtin_types \
test/test_roscpp_serialization/bin/pre_deserialize tools/rosbag/bin/play \
tools/rosbag/bin/record tools/rosrecord/bin/rosplay \
tools/rosrecord/bin/rosrecord tools/rxtools/bin/rxconsole \
tools/rxtools/bin/rxloggerlevel tools/topic_tools/bin/drop \
tools/topic_tools/bin/mux tools/topic_tools/bin/relay \
tools/topic_tools/bin/switch_mux tools/topic_tools/bin/throttle \
tools/topic_tools/test/test_shapeshifter
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
${CHMOD} 0555 ${PREFIX}/${PORTNAME}/${f}
.endfor
# make scripts executable
.for f in 3rdparty/gtest/gtest/bin/gtest-config 3rdparty/wxswig/bin/swig \
core/rosbuild/bin/check_same_directories.py \
core/rosbuild/bin/checkout_latest_stable \
core/rosbuild/bin/create_release.py core/rosbuild/bin/download_checkmd5.py \
core/rosbuild/bin/makestackdist core/rosbuild/bin/package_source.py \
core/rosbuild/bin/roscheck \
core/rosbuild/bin/rosgcov core/rosbuild/bin/rosgcov_summarize \
core/rosbuild/bin/rosmakeall core/rosbuild/bin/rosmakeall_osx \
core/rosbuild/bin/rosmakeall_stackdist core/rosbuild/bin/rossvnignore \
core/rosbuild/bin/rostar core/rosbuild/tests/count_cores.py \
core/rosconsole/scripts/generate_macros.py \
core/rosconsole/scripts/generate_speed_test.py \
core/roscpp/scripts/genmsg_cpp.py core/roscpp/scripts/genmsgtest \
core/roscpp/scripts/gensrv_cpp.py core/roslib/scripts/gendeps \
core/roslib/scripts/pythontest core/roslisp/s-xml-rpc/test/test.b64 \
core/roslisp/scripts/genmsg_lisp.py core/roslisp/scripts/make_node_exec \
core/roslisp/scripts/make_roslisp_image core/rosout/rosout_agg_listener \
core/rosout/rosout_talker core/rospy/scripts/genmsg_py.py \
core/rospy/scripts/gensrv_py.py test/rostest/bin/catunit \
test/rostest/bin/cleanunit test/rostest/bin/coverage-html \
test/rostest/bin/roslaunch-check.py test/rostest/bin/rostest \
test/rostest/bin/rostest-check-results test/rostest/bin/rostest-results \
test/rostest/bin/test-results-dir test/rostest/nodes/hztest \
test/rostest/test/time_limit_test.py \
test/test_ros/nodes/add_two_ints_client \
test/test_ros/nodes/add_two_ints_server \
test/test_ros/nodes/fail_two_ints_server test/test_ros/nodes/listener.py \
test/test_ros/nodes/talker.py test/test_ros/nodes/testAllCommonFlows \
test/test_ros/nodes/testMaster test/test_ros/nodes/testSlave \
test/test_ros/test/test_master_api.py test/test_ros/test/test_node_api.py \
test/test_ros/test/test_ps_encapsulation.py \
test/test_ros/test/test_ps_get_param.py \
test/test_ros/test/test_ps_has_param.py \
test/test_ros/test/test_ps_private_names.py \
test/test_ros/test/test_ps_scope_down.py \
test/test_ros/test/test_ps_scope_up.py \
test/test_ros/test/test_ps_search_param.py \
test/test_ros/test/test_ps_set_param.py \
test/test_ros/test/test_ps_values.py test/test_ros/test/test_roslocate.py \
test/test_rosbag/current test/test_rosbag/gen1 test/test_rosbag/gen2 \
test/test_rosbag/gen3 test/test_rosbag/generate_data \
test/test_rosbag/scripts/generate_data_1.py \
test/test_rosbag/scripts/generate_data_2.py \
test/test_rosbag/scripts/generate_data_3.py \
test/test_rosbag/test/migrate_test.py test/test_rosbag/test/random_play.py \
test/test_rosbag/test/random_record.py test/test_rosbagmigration/current \
test/test_rosbagmigration/gen1 test/test_rosbagmigration/gen2 \
test/test_rosbagmigration/gen3 test/test_rosbagmigration/generate_data \
test/test_rosbagmigration/scripts/generate_data_1.py \
test/test_rosbagmigration/scripts/generate_data_2.py \
test/test_rosbagmigration/scripts/generate_data_3.py \
test/test_rosbagmigration/test/migrate_test.py \
test/test_rosgraph/test/test_rosgraph_masterapi_online.py \
test/test_roslaunch/test/env.py test/test_roslaunch/test/params_basic.py \
test/test_roslaunch/test/test_roslaunch_command_line_online.py \
test/test_roslaunch/test/test_xmlloader.py \
test/test_roslib/test/fake_node.py \
test/test_roslib/test/test_roslib_masterapi_online.py \
test/test_rosmake/test/test_parallel_build.py \
test/test_rosnode/test/test_rosnode_command_online.py \
test/test_rospack/test/rosbar/scripts/genmsg_bar \
test/test_rospack/test/rosfoo/scripts/genmsg_foo \
test/test_rospack/test/utest_rosstack.py \
test/test_rosparam/test/test_rosparam.py \
test/test_rosparam/test/test_rosparam_command_line_online.py \
test/test_rospy/nodes/listener.py \
test/test_rospy/nodes/publish_on_shutdown.py \
test/test_rospy/nodes/talker.py test/test_rospy/test/listenerpublisher.py \
test/test_rospy/test/listenerpublisher_embed.py \
test/test_rospy/test/talker test/test_rospy/test/test_basic_services.py \
test/test_rospy/test/test_client_param_api.py \
test/test_rospy/test/test_client_param_server.py \
test/test_rospy/test/test_deregister.py \
test/test_rospy/test/test_embed_msg.py \
test/test_rospy/test/test_empty_service.py \
test/test_rospy/test/test_latch.py test/test_rospy/test/test_node.py \
test/test_rospy/test/test_on_shutdown.py \
test/test_rospy/test/test_pubsub_order.py \
test/test_rospy/test/test_rospy_client_online.py \
test/test_rospy/test/test_service_failure.py \
test/test_rospy/test/test_service_order.py \
test/test_rosrecord/scripts/generate_data.py \
test/test_rosrecord/test/random_play.py \
test/test_rosrecord/test/random_pub_node.py \
test/test_rosrecord/test/random_record.py \
test/test_rosrecord/test/rename_test.py \
test/test_rosservice/test/test_rosservice.py \
test/test_rosservice/test/test_rosservice_command_line_online.py \
test/test_rostopic/test/test_rostopic.py \
test/test_rostopic/test/test_rostopic_command_line_online.py \
test/test_roswtf/test/test_roswtf_command_line_online.py \
tools/rosbag/bin/rosbag tools/rosbag/scripts/bag2png.py \
tools/rosbag/scripts/bagsort.py tools/rosbag/scripts/fastrebag.py \
tools/rosbag/scripts/fix_md5sums.py \
tools/rosbag/scripts/fix_moved_messages.py tools/rosbag/scripts/fixbag.py \
tools/rosbag/scripts/fixbag_batch.py tools/rosbag/scripts/makerule.py \
tools/rosbag/scripts/savemsg.py tools/rosbag/scripts/slash.py \
tools/rosbag/scripts/topic_renamer.py tools/rosbag/test/latched_pub.py \
tools/rosbag/test/latched_sub.py tools/rosbagmigration/scripts/checkbag.py \
tools/rosbagmigration/scripts/fixbag.py \
tools/rosbagmigration/scripts/fixbag_batch.py \
tools/rosbagmigration/scripts/makerule.py \
tools/rosbagmigration/scripts/savemsg.py \
tools/rosdep/installers/preinstall.macports tools/rosdep/scripts/rosdep \
tools/rosdoc/rosdoc tools/rosdoc/scripts/checkout.py \
tools/rosdoc/scripts/upload tools/rosemacs/poll-rosnode \
tools/rosemacs/poll-rostopic tools/rosgraph/nodes/rosgraph \
tools/rosgraph/nodes/rxgraph tools/roslaunch/bin/roslaunch \
tools/roslaunch/bin/roslaunch-console tools/rospack/markstack \
tools/rospack/rosalldeps tools/rospack/rosallpkgs \
tools/rospack/roscachesvncert tools/rospack/rospack_lite.py \
tools/rospack/rossearch tools/rosrecord/scripts/bag2png.py \
tools/rosrecord/scripts/bagsort.py tools/rosrecord/scripts/fastrebag.py \
tools/rosrecord/scripts/fix_md5sums.py \
tools/rosrecord/scripts/fix_moved_messages.py \
tools/rosrecord/test/test_rosrecord_offline.py \
tools/rosservice/bin/rosservice tools/rostopic/bin/rostopic \
tools/roswtf/bin/roswtf tools/rxbag/scripts/rxbag \
tools/rxtools/nodes/rxplot tools/topic_tools/demos/test_drop \
tools/topic_tools/demos/test_mux tools/topic_tools/demos/test_relay \
tools/topic_tools/demos/test_throttle tools/topic_tools/scripts/mux_add \
tools/topic_tools/scripts/mux_delete tools/topic_tools/scripts/mux_list \
tools/topic_tools/scripts/mux_select \
tools/topic_tools/test/test_mux_delete_add.py \
tools/topic_tools/test/test_mux_services.py tools/xdot/dot_viewer.py
${CHMOD} 0555 ${PREFIX}/${PORTNAME}/${f}
.endfor
.if !defined(NOPORTDOCS)
${MKDIR} ${DOCSDIR}
${INSTALL_DATA} ${WRKSRC}/AUTHORS ${DOCSDIR}
${INSTALL_DATA} ${WRKSRC}/README ${DOCSDIR}
.endif
post-install:
@${CAT} ${PKGMESSAGE}
.include <bsd.port.post.mk>

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MD5 (ros-1.2.3.tar.bz2) = 0f7e04efb2f4ae16b76c237a250208f6
SHA256 (ros-1.2.3.tar.bz2) = 4061e746a45f90592a01b22db04849a3e2c8201c0cc3009206c32c23962f7478
SIZE (ros-1.2.3.tar.bz2) = 1534842

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Index: rosdep.yaml
===================================================================
--- rosdep.yaml (revision 11635)
+++ rosdep.yaml (working copy)
@@ -14,7 +14,7 @@
macports: apr apr-util
gentoo: dev-libs/apr dev-libs/apr-util
cygwin: libapr1 libaprutil1
- freebsd: apr-ipv6-gdbm-db42
+ freebsd: builtin # i.e. ignore, only needed to manually build log4cxx on other OSes
python:
ubuntu: python-dev
debian: python-dev
@@ -161,7 +161,6 @@
gentoo: dev-libs/boost
cygwin: libboost-devel libboost1.40
freebsd: boost-python-libs
- # freebsd: boost-pyste is more complete
zlib:
ubuntu: zlib1g-dev
debian: zlib1g-dev
@@ -351,7 +350,7 @@
arch: autoconf
macports: autoconf
gentoo: sys-devel/autoconf
- freebsd: autoconf213 autoconf262
+ freebsd: autoconf213 autoconf268
automake:
ubuntu: automake
debian: automake
@@ -360,7 +359,7 @@
arch: automake
macports: automake
gentoo: sys-devel/automake
- freebsd: automake14 automake15 automake16 automake17 automake18 automake19 automake110
+ freebsd: automake14 automake111
libtool:
ubuntu:
'10.04': libtool libltdl-dev

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Index: core/roslib/src/roslib/packages.py
===================================================================
--- core/roslib/src/roslib/packages.py (revision 11635)
+++ core/roslib/src/roslib/packages.py (working copy)
@@ -502,7 +502,8 @@
if m in files:
test_path = os.path.join(p, node_type)
s = os.stat(test_path)
- if (s.st_mode & stat.S_IRWXU == stat.S_IRWXU):
+ if (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) ==
+ (stat.S_IRUSR | stat.S_IXUSR)):
return test_path
if '.svn' in dirs:
dirs.remove('.svn')
@@ -514,7 +515,8 @@
if node_type in files:
test_path = os.path.join(p, node_type)
s = os.stat(test_path)
- if (s.st_mode & stat.S_IRWXU == stat.S_IRWXU):
+ if (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) ==
+ (stat.S_IRUSR | stat.S_IXUSR)):
return test_path
if '.svn' in dirs:
dirs.remove('.svn')

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To use ROS, add these variables to your environment:
ROS_MASTER_URI <HTTP address of the host running the ROS master>
ROS_PACKAGE_PATH <a directory where you will store additional ROS software>
ROS_ROOT %%PREFIX%%/ros
PYTHONPATH $ROS_ROOT/core/roslib/src
OCTAVE_PATH $ROS_ROOT/core/experimental/rosoct/octave
If you intend to build software with ROS:
CPATH %%LOCALBASE%%/include
EXTRA_CMAKE_FLAGS -DwxWidgets_CONFIG_EXECUTABLE=%%WX_CONFIG%%
MAKE %%LOCALBASE%%/bin/gmake
ROS_BOOST_ROOT %%LOCALBASE%%

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Robot Operating System (ROS) is a meta-operating system for your robot.
It provides several services for a robot control system, including but
not limited to:
* language-independent and network-transparent communication
* including hardware abstraction
* low-level device control
* implementation of commonly-used functionality
* message-passing between processes
This port provides the core part of ROS: the base system and the tools
to develop additional nodes. These additional nodes can be installed
manually by using something like:
% svn co `roslocate svn nodename` nodename
(or git clone `roslocate svn nodename` nodename)
% rosmake nodename
WWW: http://www.ros.org/wiki/

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# New ports collection makefile for: ros
# Date created: 2010-08-01
# Whom: Rene Ladan <rene@FreeBSD.org>
#
# $FreeBSD$
PORTNAME= ros
PORTVERSION= 1.2.3
CATEGORIES= devel
MASTER_SITES= ftp://rene-ladan.nl/pub/distfiles/
MAINTAINER= rene@freebsd.org
COMMENT= Robot Operating System - core utilities
LICENSE= BSD
WRKSRC= ${WRKDIR}/${PORTNAME}
LIB_DEPENDS= log4cxx.10:${PORTSDIR}/devel/log4cxx \
boost_python:${PORTSDIR}/devel/boost-python-libs
# we need cmake and gmake for the build, but the build is triggered by make
BUILD_DEPENDS= ${PYTHON_SITELIBDIR}/yaml/__init__.py:${PORTSDIR}/devel/py-yaml \
bash:${PORTSDIR}/shells/bash \
chrpath:${PORTSDIR}/devel/chrpath \
cmake:${PORTSDIR}/devel/cmake \
gmake:${PORTSDIR}/devel/gmake
RUN_DEPENDS= ${PYTHON_SITELIBDIR}/matplotlib/__init__.py:${PORTSDIR}/math/py-matplotlib \
${PYTHON_SITELIBDIR}/paramiko/__init__.py:${PORTSDIR}/security/py-paramiko \
${PYTHON_SITELIBDIR}/yaml/__init__.py:${PORTSDIR}/devel/py-yaml \
bash:${PORTSDIR}/shells/bash \
cmake:${PORTSDIR}/devel/cmake \
doxygen:${PORTSDIR}/devel/doxygen \
epydoc:${PORTSDIR}/devel/epydoc \
f2py:${PORTSDIR}/math/py-numpy \
gmake:${PORTSDIR}/devel/gmake \
dot:${PORTSDIR}/graphics/graphviz \
pilconvert.py:${PORTSDIR}/graphics/py-imaging \
sudo:${PORTSDIR}/security/sudo \
wget:${PORTSDIR}/ftp/wget
USE_GNOME= pkgconfig pygtk2
USE_PYTHON= yes
USE_WX= 2.8
WX_COMPS= python:build python:run
USE_BZIP2= yes
USE_LDCONFIG= yes
.include <bsd.port.pre.mk>
.if ${OSVERSION} < 700000
BROKEN=Does not link, librt missing
.endif
# rosmake can't run make properly with multiple jobs enabled
MAKE_JOBS_UNSAFE= yes
MAKE_ENV+= CPATH=${LOCALBASE}/include \
EXTRA_CMAKE_FLAGS="-DwxWidgets_CONFIG_EXECUTABLE=${WX_CONFIG}" \
MAKE=${LOCALBASE}/bin/gmake \
PATH=${PATH}:${WRKSRC}/bin \
PYTHONPATH=${WRKSRC}/core/roslib/src \
ROS_BOOST_ROOT=${LOCALBASE} \
ROS_PACKAGE_PATH= \
ROS_ROOT=${WRKSRC}
ALL_TARGET=
SUB_FILES= pkg-message
SUB_LIST= LOCALBASE=${LOCALBASE} \
PREFIX=${PREFIX} \
WX_CONFIG=${WX_CONFIG}
PORTDOCS= AUTHORS README
post-extract:
# fix path to the wx configure tool and bash
${REINPLACE_CMD} -E -e "s|wx-config|${WX_CONFIG}|" \
${WRKSRC}/3rdparty/wxswig/manifest.xml
${GREP} -l -r "^#\!/bin/bash" ${WRKSRC} | ${XARGS} \
${REINPLACE_CMD} -E -e "s|#!/bin/bash|#!${LOCALBASE}/bin/bash|"
pre-build:
.if exists(${LOCALBASE}/lib/libgtest.so)
# temporarily move libraries from devel/googletest out of the way
.for f in .a .la .so .so.* _main.a _main.la _main.so _main.so.*
${MV} ${LOCALBASE}/lib/libgtest${f} /var/tmp
.endfor
.endif
# temporarily alter how ROS is built for the port build
${REINPLACE_CMD} -E -e "s|--rosdep-install|--no-rosdep --disable-logging -i|" \
${WRKSRC}/Makefile
post-build:
.if exists(/var/tmp/libgtest.so)
# restore libraries from devel/googletest
.for f in .a .la .so .so.* _main.a _main.la _main.so _main.so.*
${MV} /var/tmp/libgtest${f} ${LOCALBASE}/lib
.endfor
.endif
# restore original ROS Makefile
${MV} ${WRKSRC}/Makefile.bak ${WRKSRC}/Makefile
do-install:
${MKDIR} -p ${PREFIX}/${PORTNAME}/bin
.for f in rospack rosplay rosrecord rosstack rxconsole rxloggerlevel
${LOCALBASE}/bin/chrpath -d ${WRKSRC}/bin/${f}
${INSTALL_PROGRAM} ${WRKSRC}/bin/${f} ${PREFIX}/${PORTNAME}/bin
${LN} -s ${PREFIX}/${PORTNAME}/bin/${f} ${PREFIX}/bin/${f}
.endfor
.for f in rosbag rosboost-cfg rosclean rosconfig roscore roscreate-pkg \
roscreate-stack rosdep rosgraph roslaunch roslaunch-deps roslaunch-logs \
roslocate rosmake rosmaster rosmsg rosnode rosparam rosrebag rosrun \
rosservice rossrv rostest rostopic rosversion roswtf rxbag rxdeps rxgraph rxplot
${INSTALL_SCRIPT} ${WRKSRC}/bin/${f} ${PREFIX}/${PORTNAME}/bin
${LN} -s ${PREFIX}/${PORTNAME}/bin/${f} ${PREFIX}/bin/${f}
.endfor
${INSTALL_DATA} ${WRKSRC}/bin/rospack_nosubdirs ${PREFIX}/${PORTNAME}/bin
.for f in CMakeLists.txt Makefile rosdep.yaml stack.xml
${INSTALL_DATA} ${WRKSRC}/${f} ${PREFIX}/${PORTNAME}
.endfor
# delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
.for d in 3rdparty config core std_msgs std_srvs test tools
${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
-or -name .svnignore -type f -or -name .cvsignore -type f \
-or -name \*.orig | ${XARGS} ${RM} -rf
(cd ${WRKSRC} && ${COPYTREE_SHARE} ${d} ${PREFIX}/${PORTNAME})
.endfor
# strip and move libraries to PREFIX/lib (except gtest)
.for f in core/message_filters/lib/libmessage_filters.so \
core/rosconsole/lib/librosconsole.so core/roscpp/lib/libros.so \
core/roslib/lib/libroslib.so \
test/performance/perf_roscpp/lib/libperf_roscpp.so \
tools/rosbag/lib/librosbag.so tools/rospack/lib/librospack.so \
tools/rospack/lib/librosstack.so tools/rosrecord/lib/librosrecorder.so \
tools/rxtools/lib/librxtools.so tools/rxtools/lib/_rxtoolscpp.so \
tools/topic_tools/lib/libtopic_tools.so 3rdparty/xmlrpcpp/lib/libXmlRpc.so
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
${MV} ${PREFIX}/${PORTNAME}/${f} ${PREFIX}/lib
.endfor
# strip gtest libraries
.for f in 3rdparty/gtest/gtest/lib/libgtest.so.0 \
3rdparty/gtest/gtest/lib/libgtest_main.so.0
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
.endfor
# strip ELF binaries and make them executable
.for f in 3rdparty/wxswig/bin/swig-real core/genmsg_cpp/genmsg_java \
core/genmsg_cpp/genmsg_lisp core/genmsg_cpp/genmsg_oct \
core/genmsg_cpp/gensrv_java core/genmsg_cpp/gensrv_lisp \
core/genmsg_cpp/gensrv_oct core/rosout/rosout \
test/performance/perf_roscpp/bin/intra_suite \
test/performance/test_roscpp_serialization_perf/pointcloud_serdes \
test/test_roscpp/bin/check_master \
test/test_roscpp/bin/get_master_information test/test_roscpp/bin/handles \
test/test_roscpp/bin/incrementing_sequence test/test_roscpp/bin/inspection \
test/test_roscpp/bin/intraprocess_subscriptions \
test/test_roscpp/bin/latching_publisher \
test/test_roscpp/bin/loads_of_publishers \
test/test_roscpp/bin/log test/test_roscpp/bin/multiple_init_fini \
test/test_roscpp/bin/multiple_subscriptions \
test/test_roscpp/bin/name_remapping \
test/test_roscpp/bin/name_remapping_with_ns \
test/test_roscpp/bin/namespaces \
test/test_roscpp/bin/nonconst_subscriptions \
test/test_roscpp/bin/param_update_test \
test/test_roscpp/bin/parameter_validation test/test_roscpp/bin/params \
test/test_roscpp/bin/pub_sub test/test_roscpp/bin/publish_constantly \
test/test_roscpp/bin/publish_empty test/test_roscpp/bin/publish_n_fast \
test/test_roscpp/bin/publish_onsub \
test/test_roscpp/bin/publish_unadvertise \
test/test_roscpp/bin/publisher_for_star_subscriber \
test/test_roscpp/bin/real_time_test test/test_roscpp/bin/service_adv \
test/test_roscpp/bin/service_adv_a \
test/test_roscpp/bin/service_adv_multiple \
test/test_roscpp/bin/service_adv_unadv test/test_roscpp/bin/service_call \
test/test_roscpp/bin/service_call_expect_b \
test/test_roscpp/bin/service_call_repeatedly \
test/test_roscpp/bin/service_callback_types \
test/test_roscpp/bin/service_wait_a_adv_b \
test/test_roscpp/bin/sim_time_test test/test_roscpp/bin/sub_pub \
test/test_roscpp/bin/subscribe_empty test/test_roscpp/bin/subscribe_n_fast \
test/test_roscpp/bin/subscribe_resubscribe \
test/test_roscpp/bin/subscribe_retry_tcp \
test/test_roscpp/bin/subscribe_self test/test_roscpp/bin/subscribe_star \
test/test_roscpp/bin/subscribe_unsubscribe \
test/test_roscpp/bin/subscribe_unsubscribe_repeatedly \
test/test_roscpp/bin/subscription_callback_types \
test/test_roscpp/bin/timer_callbacks test/test_roscpp/bin/wait_for_message \
test/test_roscpp_serialization/bin/builtin_types \
test/test_roscpp_serialization/bin/pre_deserialize tools/rosbag/bin/play \
tools/rosbag/bin/record tools/rosrecord/bin/rosplay \
tools/rosrecord/bin/rosrecord tools/rxtools/bin/rxconsole \
tools/rxtools/bin/rxloggerlevel tools/topic_tools/bin/drop \
tools/topic_tools/bin/mux tools/topic_tools/bin/relay \
tools/topic_tools/bin/switch_mux tools/topic_tools/bin/throttle \
tools/topic_tools/test/test_shapeshifter
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
${CHMOD} 0555 ${PREFIX}/${PORTNAME}/${f}
.endfor
# make scripts executable
.for f in 3rdparty/gtest/gtest/bin/gtest-config 3rdparty/wxswig/bin/swig \
core/rosbuild/bin/check_same_directories.py \
core/rosbuild/bin/checkout_latest_stable \
core/rosbuild/bin/create_release.py core/rosbuild/bin/download_checkmd5.py \
core/rosbuild/bin/makestackdist core/rosbuild/bin/package_source.py \
core/rosbuild/bin/roscheck \
core/rosbuild/bin/rosgcov core/rosbuild/bin/rosgcov_summarize \
core/rosbuild/bin/rosmakeall core/rosbuild/bin/rosmakeall_osx \
core/rosbuild/bin/rosmakeall_stackdist core/rosbuild/bin/rossvnignore \
core/rosbuild/bin/rostar core/rosbuild/tests/count_cores.py \
core/rosconsole/scripts/generate_macros.py \
core/rosconsole/scripts/generate_speed_test.py \
core/roscpp/scripts/genmsg_cpp.py core/roscpp/scripts/genmsgtest \
core/roscpp/scripts/gensrv_cpp.py core/roslib/scripts/gendeps \
core/roslib/scripts/pythontest core/roslisp/s-xml-rpc/test/test.b64 \
core/roslisp/scripts/genmsg_lisp.py core/roslisp/scripts/make_node_exec \
core/roslisp/scripts/make_roslisp_image core/rosout/rosout_agg_listener \
core/rosout/rosout_talker core/rospy/scripts/genmsg_py.py \
core/rospy/scripts/gensrv_py.py test/rostest/bin/catunit \
test/rostest/bin/cleanunit test/rostest/bin/coverage-html \
test/rostest/bin/roslaunch-check.py test/rostest/bin/rostest \
test/rostest/bin/rostest-check-results test/rostest/bin/rostest-results \
test/rostest/bin/test-results-dir test/rostest/nodes/hztest \
test/rostest/test/time_limit_test.py \
test/test_ros/nodes/add_two_ints_client \
test/test_ros/nodes/add_two_ints_server \
test/test_ros/nodes/fail_two_ints_server test/test_ros/nodes/listener.py \
test/test_ros/nodes/talker.py test/test_ros/nodes/testAllCommonFlows \
test/test_ros/nodes/testMaster test/test_ros/nodes/testSlave \
test/test_ros/test/test_master_api.py test/test_ros/test/test_node_api.py \
test/test_ros/test/test_ps_encapsulation.py \
test/test_ros/test/test_ps_get_param.py \
test/test_ros/test/test_ps_has_param.py \
test/test_ros/test/test_ps_private_names.py \
test/test_ros/test/test_ps_scope_down.py \
test/test_ros/test/test_ps_scope_up.py \
test/test_ros/test/test_ps_search_param.py \
test/test_ros/test/test_ps_set_param.py \
test/test_ros/test/test_ps_values.py test/test_ros/test/test_roslocate.py \
test/test_rosbag/current test/test_rosbag/gen1 test/test_rosbag/gen2 \
test/test_rosbag/gen3 test/test_rosbag/generate_data \
test/test_rosbag/scripts/generate_data_1.py \
test/test_rosbag/scripts/generate_data_2.py \
test/test_rosbag/scripts/generate_data_3.py \
test/test_rosbag/test/migrate_test.py test/test_rosbag/test/random_play.py \
test/test_rosbag/test/random_record.py test/test_rosbagmigration/current \
test/test_rosbagmigration/gen1 test/test_rosbagmigration/gen2 \
test/test_rosbagmigration/gen3 test/test_rosbagmigration/generate_data \
test/test_rosbagmigration/scripts/generate_data_1.py \
test/test_rosbagmigration/scripts/generate_data_2.py \
test/test_rosbagmigration/scripts/generate_data_3.py \
test/test_rosbagmigration/test/migrate_test.py \
test/test_rosgraph/test/test_rosgraph_masterapi_online.py \
test/test_roslaunch/test/env.py test/test_roslaunch/test/params_basic.py \
test/test_roslaunch/test/test_roslaunch_command_line_online.py \
test/test_roslaunch/test/test_xmlloader.py \
test/test_roslib/test/fake_node.py \
test/test_roslib/test/test_roslib_masterapi_online.py \
test/test_rosmake/test/test_parallel_build.py \
test/test_rosnode/test/test_rosnode_command_online.py \
test/test_rospack/test/rosbar/scripts/genmsg_bar \
test/test_rospack/test/rosfoo/scripts/genmsg_foo \
test/test_rospack/test/utest_rosstack.py \
test/test_rosparam/test/test_rosparam.py \
test/test_rosparam/test/test_rosparam_command_line_online.py \
test/test_rospy/nodes/listener.py \
test/test_rospy/nodes/publish_on_shutdown.py \
test/test_rospy/nodes/talker.py test/test_rospy/test/listenerpublisher.py \
test/test_rospy/test/listenerpublisher_embed.py \
test/test_rospy/test/talker test/test_rospy/test/test_basic_services.py \
test/test_rospy/test/test_client_param_api.py \
test/test_rospy/test/test_client_param_server.py \
test/test_rospy/test/test_deregister.py \
test/test_rospy/test/test_embed_msg.py \
test/test_rospy/test/test_empty_service.py \
test/test_rospy/test/test_latch.py test/test_rospy/test/test_node.py \
test/test_rospy/test/test_on_shutdown.py \
test/test_rospy/test/test_pubsub_order.py \
test/test_rospy/test/test_rospy_client_online.py \
test/test_rospy/test/test_service_failure.py \
test/test_rospy/test/test_service_order.py \
test/test_rosrecord/scripts/generate_data.py \
test/test_rosrecord/test/random_play.py \
test/test_rosrecord/test/random_pub_node.py \
test/test_rosrecord/test/random_record.py \
test/test_rosrecord/test/rename_test.py \
test/test_rosservice/test/test_rosservice.py \
test/test_rosservice/test/test_rosservice_command_line_online.py \
test/test_rostopic/test/test_rostopic.py \
test/test_rostopic/test/test_rostopic_command_line_online.py \
test/test_roswtf/test/test_roswtf_command_line_online.py \
tools/rosbag/bin/rosbag tools/rosbag/scripts/bag2png.py \
tools/rosbag/scripts/bagsort.py tools/rosbag/scripts/fastrebag.py \
tools/rosbag/scripts/fix_md5sums.py \
tools/rosbag/scripts/fix_moved_messages.py tools/rosbag/scripts/fixbag.py \
tools/rosbag/scripts/fixbag_batch.py tools/rosbag/scripts/makerule.py \
tools/rosbag/scripts/savemsg.py tools/rosbag/scripts/slash.py \
tools/rosbag/scripts/topic_renamer.py tools/rosbag/test/latched_pub.py \
tools/rosbag/test/latched_sub.py tools/rosbagmigration/scripts/checkbag.py \
tools/rosbagmigration/scripts/fixbag.py \
tools/rosbagmigration/scripts/fixbag_batch.py \
tools/rosbagmigration/scripts/makerule.py \
tools/rosbagmigration/scripts/savemsg.py \
tools/rosdep/installers/preinstall.macports tools/rosdep/scripts/rosdep \
tools/rosdoc/rosdoc tools/rosdoc/scripts/checkout.py \
tools/rosdoc/scripts/upload tools/rosemacs/poll-rosnode \
tools/rosemacs/poll-rostopic tools/rosgraph/nodes/rosgraph \
tools/rosgraph/nodes/rxgraph tools/roslaunch/bin/roslaunch \
tools/roslaunch/bin/roslaunch-console tools/rospack/markstack \
tools/rospack/rosalldeps tools/rospack/rosallpkgs \
tools/rospack/roscachesvncert tools/rospack/rospack_lite.py \
tools/rospack/rossearch tools/rosrecord/scripts/bag2png.py \
tools/rosrecord/scripts/bagsort.py tools/rosrecord/scripts/fastrebag.py \
tools/rosrecord/scripts/fix_md5sums.py \
tools/rosrecord/scripts/fix_moved_messages.py \
tools/rosrecord/test/test_rosrecord_offline.py \
tools/rosservice/bin/rosservice tools/rostopic/bin/rostopic \
tools/roswtf/bin/roswtf tools/rxbag/scripts/rxbag \
tools/rxtools/nodes/rxplot tools/topic_tools/demos/test_drop \
tools/topic_tools/demos/test_mux tools/topic_tools/demos/test_relay \
tools/topic_tools/demos/test_throttle tools/topic_tools/scripts/mux_add \
tools/topic_tools/scripts/mux_delete tools/topic_tools/scripts/mux_list \
tools/topic_tools/scripts/mux_select \
tools/topic_tools/test/test_mux_delete_add.py \
tools/topic_tools/test/test_mux_services.py tools/xdot/dot_viewer.py
${CHMOD} 0555 ${PREFIX}/${PORTNAME}/${f}
.endfor
.if !defined(NOPORTDOCS)
${MKDIR} ${DOCSDIR}
${INSTALL_DATA} ${WRKSRC}/AUTHORS ${DOCSDIR}
${INSTALL_DATA} ${WRKSRC}/README ${DOCSDIR}
.endif
post-install:
@${CAT} ${PKGMESSAGE}
.include <bsd.port.post.mk>

3
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@ -0,0 +1,3 @@
MD5 (ros-1.2.3.tar.bz2) = 0f7e04efb2f4ae16b76c237a250208f6
SHA256 (ros-1.2.3.tar.bz2) = 4061e746a45f90592a01b22db04849a3e2c8201c0cc3009206c32c23962f7478
SIZE (ros-1.2.3.tar.bz2) = 1534842

39
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@ -0,0 +1,39 @@
Index: rosdep.yaml
===================================================================
--- rosdep.yaml (revision 11635)
+++ rosdep.yaml (working copy)
@@ -14,7 +14,7 @@
macports: apr apr-util
gentoo: dev-libs/apr dev-libs/apr-util
cygwin: libapr1 libaprutil1
- freebsd: apr-ipv6-gdbm-db42
+ freebsd: builtin # i.e. ignore, only needed to manually build log4cxx on other OSes
python:
ubuntu: python-dev
debian: python-dev
@@ -161,7 +161,6 @@
gentoo: dev-libs/boost
cygwin: libboost-devel libboost1.40
freebsd: boost-python-libs
- # freebsd: boost-pyste is more complete
zlib:
ubuntu: zlib1g-dev
debian: zlib1g-dev
@@ -351,7 +350,7 @@
arch: autoconf
macports: autoconf
gentoo: sys-devel/autoconf
- freebsd: autoconf213 autoconf262
+ freebsd: autoconf213 autoconf268
automake:
ubuntu: automake
debian: automake
@@ -360,7 +359,7 @@
arch: automake
macports: automake
gentoo: sys-devel/automake
- freebsd: automake14 automake15 automake16 automake17 automake18 automake19 automake110
+ freebsd: automake14 automake111
libtool:
ubuntu:
'10.04': libtool libltdl-dev

24
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@ -0,0 +1,24 @@
Index: core/roslib/src/roslib/packages.py
===================================================================
--- core/roslib/src/roslib/packages.py (revision 11635)
+++ core/roslib/src/roslib/packages.py (working copy)
@@ -502,7 +502,8 @@
if m in files:
test_path = os.path.join(p, node_type)
s = os.stat(test_path)
- if (s.st_mode & stat.S_IRWXU == stat.S_IRWXU):
+ if (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) ==
+ (stat.S_IRUSR | stat.S_IXUSR)):
return test_path
if '.svn' in dirs:
dirs.remove('.svn')
@@ -514,7 +515,8 @@
if node_type in files:
test_path = os.path.join(p, node_type)
s = os.stat(test_path)
- if (s.st_mode & stat.S_IRWXU == stat.S_IRWXU):
+ if (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) ==
+ (stat.S_IRUSR | stat.S_IXUSR)):
return test_path
if '.svn' in dirs:
dirs.remove('.svn')

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@ -0,0 +1,12 @@
To use ROS, add these variables to your environment:
ROS_MASTER_URI <HTTP address of the host running the ROS master>
ROS_PACKAGE_PATH <a directory where you will store additional ROS software>
ROS_ROOT %%PREFIX%%/ros
PYTHONPATH $ROS_ROOT/core/roslib/src
OCTAVE_PATH $ROS_ROOT/core/experimental/rosoct/octave
If you intend to build software with ROS:
CPATH %%LOCALBASE%%/include
EXTRA_CMAKE_FLAGS -DwxWidgets_CONFIG_EXECUTABLE=%%WX_CONFIG%%
MAKE %%LOCALBASE%%/bin/gmake
ROS_BOOST_ROOT %%LOCALBASE%%

17
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@ -0,0 +1,17 @@
Robot Operating System (ROS) is a meta-operating system for your robot.
It provides several services for a robot control system, including but
not limited to:
* language-independent and network-transparent communication
* including hardware abstraction
* low-level device control
* implementation of commonly-used functionality
* message-passing between processes
This port provides the core part of ROS: the base system and the tools
to develop additional nodes. These additional nodes can be installed
manually by using something like:
% svn co `roslocate svn nodename` nodename
(or git clone `roslocate svn nodename` nodename)
% rosmake nodename
WWW: http://www.ros.org/wiki/

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@ -0,0 +1,340 @@
# New ports collection makefile for: ros
# Date created: 2010-08-01
# Whom: Rene Ladan <rene@FreeBSD.org>
#
# $FreeBSD$
PORTNAME= ros
PORTVERSION= 1.2.3
CATEGORIES= devel
MASTER_SITES= ftp://rene-ladan.nl/pub/distfiles/
MAINTAINER= rene@freebsd.org
COMMENT= Robot Operating System - core utilities
LICENSE= BSD
WRKSRC= ${WRKDIR}/${PORTNAME}
LIB_DEPENDS= log4cxx.10:${PORTSDIR}/devel/log4cxx \
boost_python:${PORTSDIR}/devel/boost-python-libs
# we need cmake and gmake for the build, but the build is triggered by make
BUILD_DEPENDS= ${PYTHON_SITELIBDIR}/yaml/__init__.py:${PORTSDIR}/devel/py-yaml \
bash:${PORTSDIR}/shells/bash \
chrpath:${PORTSDIR}/devel/chrpath \
cmake:${PORTSDIR}/devel/cmake \
gmake:${PORTSDIR}/devel/gmake
RUN_DEPENDS= ${PYTHON_SITELIBDIR}/matplotlib/__init__.py:${PORTSDIR}/math/py-matplotlib \
${PYTHON_SITELIBDIR}/paramiko/__init__.py:${PORTSDIR}/security/py-paramiko \
${PYTHON_SITELIBDIR}/yaml/__init__.py:${PORTSDIR}/devel/py-yaml \
bash:${PORTSDIR}/shells/bash \
cmake:${PORTSDIR}/devel/cmake \
doxygen:${PORTSDIR}/devel/doxygen \
epydoc:${PORTSDIR}/devel/epydoc \
f2py:${PORTSDIR}/math/py-numpy \
gmake:${PORTSDIR}/devel/gmake \
dot:${PORTSDIR}/graphics/graphviz \
pilconvert.py:${PORTSDIR}/graphics/py-imaging \
sudo:${PORTSDIR}/security/sudo \
wget:${PORTSDIR}/ftp/wget
USE_GNOME= pkgconfig pygtk2
USE_PYTHON= yes
USE_WX= 2.8
WX_COMPS= python:build python:run
USE_BZIP2= yes
USE_LDCONFIG= yes
.include <bsd.port.pre.mk>
.if ${OSVERSION} < 700000
BROKEN=Does not link, librt missing
.endif
# rosmake can't run make properly with multiple jobs enabled
MAKE_JOBS_UNSAFE= yes
MAKE_ENV+= CPATH=${LOCALBASE}/include \
EXTRA_CMAKE_FLAGS="-DwxWidgets_CONFIG_EXECUTABLE=${WX_CONFIG}" \
MAKE=${LOCALBASE}/bin/gmake \
PATH=${PATH}:${WRKSRC}/bin \
PYTHONPATH=${WRKSRC}/core/roslib/src \
ROS_BOOST_ROOT=${LOCALBASE} \
ROS_PACKAGE_PATH= \
ROS_ROOT=${WRKSRC}
ALL_TARGET=
SUB_FILES= pkg-message
SUB_LIST= LOCALBASE=${LOCALBASE} \
PREFIX=${PREFIX} \
WX_CONFIG=${WX_CONFIG}
PORTDOCS= AUTHORS README
post-extract:
# fix path to the wx configure tool and bash
${REINPLACE_CMD} -E -e "s|wx-config|${WX_CONFIG}|" \
${WRKSRC}/3rdparty/wxswig/manifest.xml
${GREP} -l -r "^#\!/bin/bash" ${WRKSRC} | ${XARGS} \
${REINPLACE_CMD} -E -e "s|#!/bin/bash|#!${LOCALBASE}/bin/bash|"
pre-build:
.if exists(${LOCALBASE}/lib/libgtest.so)
# temporarily move libraries from devel/googletest out of the way
.for f in .a .la .so .so.* _main.a _main.la _main.so _main.so.*
${MV} ${LOCALBASE}/lib/libgtest${f} /var/tmp
.endfor
.endif
# temporarily alter how ROS is built for the port build
${REINPLACE_CMD} -E -e "s|--rosdep-install|--no-rosdep --disable-logging -i|" \
${WRKSRC}/Makefile
post-build:
.if exists(/var/tmp/libgtest.so)
# restore libraries from devel/googletest
.for f in .a .la .so .so.* _main.a _main.la _main.so _main.so.*
${MV} /var/tmp/libgtest${f} ${LOCALBASE}/lib
.endfor
.endif
# restore original ROS Makefile
${MV} ${WRKSRC}/Makefile.bak ${WRKSRC}/Makefile
do-install:
${MKDIR} -p ${PREFIX}/${PORTNAME}/bin
.for f in rospack rosplay rosrecord rosstack rxconsole rxloggerlevel
${LOCALBASE}/bin/chrpath -d ${WRKSRC}/bin/${f}
${INSTALL_PROGRAM} ${WRKSRC}/bin/${f} ${PREFIX}/${PORTNAME}/bin
${LN} -s ${PREFIX}/${PORTNAME}/bin/${f} ${PREFIX}/bin/${f}
.endfor
.for f in rosbag rosboost-cfg rosclean rosconfig roscore roscreate-pkg \
roscreate-stack rosdep rosgraph roslaunch roslaunch-deps roslaunch-logs \
roslocate rosmake rosmaster rosmsg rosnode rosparam rosrebag rosrun \
rosservice rossrv rostest rostopic rosversion roswtf rxbag rxdeps rxgraph rxplot
${INSTALL_SCRIPT} ${WRKSRC}/bin/${f} ${PREFIX}/${PORTNAME}/bin
${LN} -s ${PREFIX}/${PORTNAME}/bin/${f} ${PREFIX}/bin/${f}
.endfor
${INSTALL_DATA} ${WRKSRC}/bin/rospack_nosubdirs ${PREFIX}/${PORTNAME}/bin
.for f in CMakeLists.txt Makefile rosdep.yaml stack.xml
${INSTALL_DATA} ${WRKSRC}/${f} ${PREFIX}/${PORTNAME}
.endfor
# delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
.for d in 3rdparty config core std_msgs std_srvs test tools
${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
-or -name .svnignore -type f -or -name .cvsignore -type f \
-or -name \*.orig | ${XARGS} ${RM} -rf
(cd ${WRKSRC} && ${COPYTREE_SHARE} ${d} ${PREFIX}/${PORTNAME})
.endfor
# strip and move libraries to PREFIX/lib (except gtest)
.for f in core/message_filters/lib/libmessage_filters.so \
core/rosconsole/lib/librosconsole.so core/roscpp/lib/libros.so \
core/roslib/lib/libroslib.so \
test/performance/perf_roscpp/lib/libperf_roscpp.so \
tools/rosbag/lib/librosbag.so tools/rospack/lib/librospack.so \
tools/rospack/lib/librosstack.so tools/rosrecord/lib/librosrecorder.so \
tools/rxtools/lib/librxtools.so tools/rxtools/lib/_rxtoolscpp.so \
tools/topic_tools/lib/libtopic_tools.so 3rdparty/xmlrpcpp/lib/libXmlRpc.so
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
${MV} ${PREFIX}/${PORTNAME}/${f} ${PREFIX}/lib
.endfor
# strip gtest libraries
.for f in 3rdparty/gtest/gtest/lib/libgtest.so.0 \
3rdparty/gtest/gtest/lib/libgtest_main.so.0
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
.endfor
# strip ELF binaries and make them executable
.for f in 3rdparty/wxswig/bin/swig-real core/genmsg_cpp/genmsg_java \
core/genmsg_cpp/genmsg_lisp core/genmsg_cpp/genmsg_oct \
core/genmsg_cpp/gensrv_java core/genmsg_cpp/gensrv_lisp \
core/genmsg_cpp/gensrv_oct core/rosout/rosout \
test/performance/perf_roscpp/bin/intra_suite \
test/performance/test_roscpp_serialization_perf/pointcloud_serdes \
test/test_roscpp/bin/check_master \
test/test_roscpp/bin/get_master_information test/test_roscpp/bin/handles \
test/test_roscpp/bin/incrementing_sequence test/test_roscpp/bin/inspection \
test/test_roscpp/bin/intraprocess_subscriptions \
test/test_roscpp/bin/latching_publisher \
test/test_roscpp/bin/loads_of_publishers \
test/test_roscpp/bin/log test/test_roscpp/bin/multiple_init_fini \
test/test_roscpp/bin/multiple_subscriptions \
test/test_roscpp/bin/name_remapping \
test/test_roscpp/bin/name_remapping_with_ns \
test/test_roscpp/bin/namespaces \
test/test_roscpp/bin/nonconst_subscriptions \
test/test_roscpp/bin/param_update_test \
test/test_roscpp/bin/parameter_validation test/test_roscpp/bin/params \
test/test_roscpp/bin/pub_sub test/test_roscpp/bin/publish_constantly \
test/test_roscpp/bin/publish_empty test/test_roscpp/bin/publish_n_fast \
test/test_roscpp/bin/publish_onsub \
test/test_roscpp/bin/publish_unadvertise \
test/test_roscpp/bin/publisher_for_star_subscriber \
test/test_roscpp/bin/real_time_test test/test_roscpp/bin/service_adv \
test/test_roscpp/bin/service_adv_a \
test/test_roscpp/bin/service_adv_multiple \
test/test_roscpp/bin/service_adv_unadv test/test_roscpp/bin/service_call \
test/test_roscpp/bin/service_call_expect_b \
test/test_roscpp/bin/service_call_repeatedly \
test/test_roscpp/bin/service_callback_types \
test/test_roscpp/bin/service_wait_a_adv_b \
test/test_roscpp/bin/sim_time_test test/test_roscpp/bin/sub_pub \
test/test_roscpp/bin/subscribe_empty test/test_roscpp/bin/subscribe_n_fast \
test/test_roscpp/bin/subscribe_resubscribe \
test/test_roscpp/bin/subscribe_retry_tcp \
test/test_roscpp/bin/subscribe_self test/test_roscpp/bin/subscribe_star \
test/test_roscpp/bin/subscribe_unsubscribe \
test/test_roscpp/bin/subscribe_unsubscribe_repeatedly \
test/test_roscpp/bin/subscription_callback_types \
test/test_roscpp/bin/timer_callbacks test/test_roscpp/bin/wait_for_message \
test/test_roscpp_serialization/bin/builtin_types \
test/test_roscpp_serialization/bin/pre_deserialize tools/rosbag/bin/play \
tools/rosbag/bin/record tools/rosrecord/bin/rosplay \
tools/rosrecord/bin/rosrecord tools/rxtools/bin/rxconsole \
tools/rxtools/bin/rxloggerlevel tools/topic_tools/bin/drop \
tools/topic_tools/bin/mux tools/topic_tools/bin/relay \
tools/topic_tools/bin/switch_mux tools/topic_tools/bin/throttle \
tools/topic_tools/test/test_shapeshifter
${STRIP_CMD} ${PREFIX}/${PORTNAME}/${f}
${LOCALBASE}/bin/chrpath -d ${PREFIX}/${PORTNAME}/${f}
${CHMOD} 0555 ${PREFIX}/${PORTNAME}/${f}
.endfor
# make scripts executable
.for f in 3rdparty/gtest/gtest/bin/gtest-config 3rdparty/wxswig/bin/swig \
core/rosbuild/bin/check_same_directories.py \
core/rosbuild/bin/checkout_latest_stable \
core/rosbuild/bin/create_release.py core/rosbuild/bin/download_checkmd5.py \
core/rosbuild/bin/makestackdist core/rosbuild/bin/package_source.py \
core/rosbuild/bin/roscheck \
core/rosbuild/bin/rosgcov core/rosbuild/bin/rosgcov_summarize \
core/rosbuild/bin/rosmakeall core/rosbuild/bin/rosmakeall_osx \
core/rosbuild/bin/rosmakeall_stackdist core/rosbuild/bin/rossvnignore \
core/rosbuild/bin/rostar core/rosbuild/tests/count_cores.py \
core/rosconsole/scripts/generate_macros.py \
core/rosconsole/scripts/generate_speed_test.py \
core/roscpp/scripts/genmsg_cpp.py core/roscpp/scripts/genmsgtest \
core/roscpp/scripts/gensrv_cpp.py core/roslib/scripts/gendeps \
core/roslib/scripts/pythontest core/roslisp/s-xml-rpc/test/test.b64 \
core/roslisp/scripts/genmsg_lisp.py core/roslisp/scripts/make_node_exec \
core/roslisp/scripts/make_roslisp_image core/rosout/rosout_agg_listener \
core/rosout/rosout_talker core/rospy/scripts/genmsg_py.py \
core/rospy/scripts/gensrv_py.py test/rostest/bin/catunit \
test/rostest/bin/cleanunit test/rostest/bin/coverage-html \
test/rostest/bin/roslaunch-check.py test/rostest/bin/rostest \
test/rostest/bin/rostest-check-results test/rostest/bin/rostest-results \
test/rostest/bin/test-results-dir test/rostest/nodes/hztest \
test/rostest/test/time_limit_test.py \
test/test_ros/nodes/add_two_ints_client \
test/test_ros/nodes/add_two_ints_server \
test/test_ros/nodes/fail_two_ints_server test/test_ros/nodes/listener.py \
test/test_ros/nodes/talker.py test/test_ros/nodes/testAllCommonFlows \
test/test_ros/nodes/testMaster test/test_ros/nodes/testSlave \
test/test_ros/test/test_master_api.py test/test_ros/test/test_node_api.py \
test/test_ros/test/test_ps_encapsulation.py \
test/test_ros/test/test_ps_get_param.py \
test/test_ros/test/test_ps_has_param.py \
test/test_ros/test/test_ps_private_names.py \
test/test_ros/test/test_ps_scope_down.py \
test/test_ros/test/test_ps_scope_up.py \
test/test_ros/test/test_ps_search_param.py \
test/test_ros/test/test_ps_set_param.py \
test/test_ros/test/test_ps_values.py test/test_ros/test/test_roslocate.py \
test/test_rosbag/current test/test_rosbag/gen1 test/test_rosbag/gen2 \
test/test_rosbag/gen3 test/test_rosbag/generate_data \
test/test_rosbag/scripts/generate_data_1.py \
test/test_rosbag/scripts/generate_data_2.py \
test/test_rosbag/scripts/generate_data_3.py \
test/test_rosbag/test/migrate_test.py test/test_rosbag/test/random_play.py \
test/test_rosbag/test/random_record.py test/test_rosbagmigration/current \
test/test_rosbagmigration/gen1 test/test_rosbagmigration/gen2 \
test/test_rosbagmigration/gen3 test/test_rosbagmigration/generate_data \
test/test_rosbagmigration/scripts/generate_data_1.py \
test/test_rosbagmigration/scripts/generate_data_2.py \
test/test_rosbagmigration/scripts/generate_data_3.py \
test/test_rosbagmigration/test/migrate_test.py \
test/test_rosgraph/test/test_rosgraph_masterapi_online.py \
test/test_roslaunch/test/env.py test/test_roslaunch/test/params_basic.py \
test/test_roslaunch/test/test_roslaunch_command_line_online.py \
test/test_roslaunch/test/test_xmlloader.py \
test/test_roslib/test/fake_node.py \
test/test_roslib/test/test_roslib_masterapi_online.py \
test/test_rosmake/test/test_parallel_build.py \
test/test_rosnode/test/test_rosnode_command_online.py \
test/test_rospack/test/rosbar/scripts/genmsg_bar \
test/test_rospack/test/rosfoo/scripts/genmsg_foo \
test/test_rospack/test/utest_rosstack.py \
test/test_rosparam/test/test_rosparam.py \
test/test_rosparam/test/test_rosparam_command_line_online.py \
test/test_rospy/nodes/listener.py \
test/test_rospy/nodes/publish_on_shutdown.py \
test/test_rospy/nodes/talker.py test/test_rospy/test/listenerpublisher.py \
test/test_rospy/test/listenerpublisher_embed.py \
test/test_rospy/test/talker test/test_rospy/test/test_basic_services.py \
test/test_rospy/test/test_client_param_api.py \
test/test_rospy/test/test_client_param_server.py \
test/test_rospy/test/test_deregister.py \
test/test_rospy/test/test_embed_msg.py \
test/test_rospy/test/test_empty_service.py \
test/test_rospy/test/test_latch.py test/test_rospy/test/test_node.py \
test/test_rospy/test/test_on_shutdown.py \
test/test_rospy/test/test_pubsub_order.py \
test/test_rospy/test/test_rospy_client_online.py \
test/test_rospy/test/test_service_failure.py \
test/test_rospy/test/test_service_order.py \
test/test_rosrecord/scripts/generate_data.py \
test/test_rosrecord/test/random_play.py \
test/test_rosrecord/test/random_pub_node.py \
test/test_rosrecord/test/random_record.py \
test/test_rosrecord/test/rename_test.py \
test/test_rosservice/test/test_rosservice.py \
test/test_rosservice/test/test_rosservice_command_line_online.py \
test/test_rostopic/test/test_rostopic.py \
test/test_rostopic/test/test_rostopic_command_line_online.py \
test/test_roswtf/test/test_roswtf_command_line_online.py \
tools/rosbag/bin/rosbag tools/rosbag/scripts/bag2png.py \
tools/rosbag/scripts/bagsort.py tools/rosbag/scripts/fastrebag.py \
tools/rosbag/scripts/fix_md5sums.py \
tools/rosbag/scripts/fix_moved_messages.py tools/rosbag/scripts/fixbag.py \
tools/rosbag/scripts/fixbag_batch.py tools/rosbag/scripts/makerule.py \
tools/rosbag/scripts/savemsg.py tools/rosbag/scripts/slash.py \
tools/rosbag/scripts/topic_renamer.py tools/rosbag/test/latched_pub.py \
tools/rosbag/test/latched_sub.py tools/rosbagmigration/scripts/checkbag.py \
tools/rosbagmigration/scripts/fixbag.py \
tools/rosbagmigration/scripts/fixbag_batch.py \
tools/rosbagmigration/scripts/makerule.py \
tools/rosbagmigration/scripts/savemsg.py \
tools/rosdep/installers/preinstall.macports tools/rosdep/scripts/rosdep \
tools/rosdoc/rosdoc tools/rosdoc/scripts/checkout.py \
tools/rosdoc/scripts/upload tools/rosemacs/poll-rosnode \
tools/rosemacs/poll-rostopic tools/rosgraph/nodes/rosgraph \
tools/rosgraph/nodes/rxgraph tools/roslaunch/bin/roslaunch \
tools/roslaunch/bin/roslaunch-console tools/rospack/markstack \
tools/rospack/rosalldeps tools/rospack/rosallpkgs \
tools/rospack/roscachesvncert tools/rospack/rospack_lite.py \
tools/rospack/rossearch tools/rosrecord/scripts/bag2png.py \
tools/rosrecord/scripts/bagsort.py tools/rosrecord/scripts/fastrebag.py \
tools/rosrecord/scripts/fix_md5sums.py \
tools/rosrecord/scripts/fix_moved_messages.py \
tools/rosrecord/test/test_rosrecord_offline.py \
tools/rosservice/bin/rosservice tools/rostopic/bin/rostopic \
tools/roswtf/bin/roswtf tools/rxbag/scripts/rxbag \
tools/rxtools/nodes/rxplot tools/topic_tools/demos/test_drop \
tools/topic_tools/demos/test_mux tools/topic_tools/demos/test_relay \
tools/topic_tools/demos/test_throttle tools/topic_tools/scripts/mux_add \
tools/topic_tools/scripts/mux_delete tools/topic_tools/scripts/mux_list \
tools/topic_tools/scripts/mux_select \
tools/topic_tools/test/test_mux_delete_add.py \
tools/topic_tools/test/test_mux_services.py tools/xdot/dot_viewer.py
${CHMOD} 0555 ${PREFIX}/${PORTNAME}/${f}
.endfor
.if !defined(NOPORTDOCS)
${MKDIR} ${DOCSDIR}
${INSTALL_DATA} ${WRKSRC}/AUTHORS ${DOCSDIR}
${INSTALL_DATA} ${WRKSRC}/README ${DOCSDIR}
.endif
post-install:
@${CAT} ${PKGMESSAGE}
.include <bsd.port.post.mk>

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@ -0,0 +1,3 @@
MD5 (ros-1.2.3.tar.bz2) = 0f7e04efb2f4ae16b76c237a250208f6
SHA256 (ros-1.2.3.tar.bz2) = 4061e746a45f90592a01b22db04849a3e2c8201c0cc3009206c32c23962f7478
SIZE (ros-1.2.3.tar.bz2) = 1534842

39
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@ -0,0 +1,39 @@
Index: rosdep.yaml
===================================================================
--- rosdep.yaml (revision 11635)
+++ rosdep.yaml (working copy)
@@ -14,7 +14,7 @@
macports: apr apr-util
gentoo: dev-libs/apr dev-libs/apr-util
cygwin: libapr1 libaprutil1
- freebsd: apr-ipv6-gdbm-db42
+ freebsd: builtin # i.e. ignore, only needed to manually build log4cxx on other OSes
python:
ubuntu: python-dev
debian: python-dev
@@ -161,7 +161,6 @@
gentoo: dev-libs/boost
cygwin: libboost-devel libboost1.40
freebsd: boost-python-libs
- # freebsd: boost-pyste is more complete
zlib:
ubuntu: zlib1g-dev
debian: zlib1g-dev
@@ -351,7 +350,7 @@
arch: autoconf
macports: autoconf
gentoo: sys-devel/autoconf
- freebsd: autoconf213 autoconf262
+ freebsd: autoconf213 autoconf268
automake:
ubuntu: automake
debian: automake
@@ -360,7 +359,7 @@
arch: automake
macports: automake
gentoo: sys-devel/automake
- freebsd: automake14 automake15 automake16 automake17 automake18 automake19 automake110
+ freebsd: automake14 automake111
libtool:
ubuntu:
'10.04': libtool libltdl-dev

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@ -0,0 +1,24 @@
Index: core/roslib/src/roslib/packages.py
===================================================================
--- core/roslib/src/roslib/packages.py (revision 11635)
+++ core/roslib/src/roslib/packages.py (working copy)
@@ -502,7 +502,8 @@
if m in files:
test_path = os.path.join(p, node_type)
s = os.stat(test_path)
- if (s.st_mode & stat.S_IRWXU == stat.S_IRWXU):
+ if (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) ==
+ (stat.S_IRUSR | stat.S_IXUSR)):
return test_path
if '.svn' in dirs:
dirs.remove('.svn')
@@ -514,7 +515,8 @@
if node_type in files:
test_path = os.path.join(p, node_type)
s = os.stat(test_path)
- if (s.st_mode & stat.S_IRWXU == stat.S_IRWXU):
+ if (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) ==
+ (stat.S_IRUSR | stat.S_IXUSR)):
return test_path
if '.svn' in dirs:
dirs.remove('.svn')

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@ -0,0 +1,12 @@
To use ROS, add these variables to your environment:
ROS_MASTER_URI <HTTP address of the host running the ROS master>
ROS_PACKAGE_PATH <a directory where you will store additional ROS software>
ROS_ROOT %%PREFIX%%/ros
PYTHONPATH $ROS_ROOT/core/roslib/src
OCTAVE_PATH $ROS_ROOT/core/experimental/rosoct/octave
If you intend to build software with ROS:
CPATH %%LOCALBASE%%/include
EXTRA_CMAKE_FLAGS -DwxWidgets_CONFIG_EXECUTABLE=%%WX_CONFIG%%
MAKE %%LOCALBASE%%/bin/gmake
ROS_BOOST_ROOT %%LOCALBASE%%

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Robot Operating System (ROS) is a meta-operating system for your robot.
It provides several services for a robot control system, including but
not limited to:
* language-independent and network-transparent communication
* including hardware abstraction
* low-level device control
* implementation of commonly-used functionality
* message-passing between processes
This port provides the core part of ROS: the base system and the tools
to develop additional nodes. These additional nodes can be installed
manually by using something like:
% svn co `roslocate svn nodename` nodename
(or git clone `roslocate svn nodename` nodename)
% rosmake nodename
WWW: http://www.ros.org/wiki/

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