슬랙웨어 설치 방법

아래 설치 방법은 슬랙웨어 13.1에 대해 검증된 것입니다. 슬랙웨어는 단순한 vanilla-linux 기반 구성과 맞춤형 설계 덕분에 맞춤형 로봇을 구축할 때, ROS와 함께 사용하기 좋은 배포판입니다. 그렇지만, 패키지 관리 시스템이 없어서 최종 사용자 입장에서는 설정해야 할 것들이 많습니다. ROS는 많은 슬랙웨어 시스템들이 보통 포함하지 않고 있는 여러 비표준 패키지들을 필요로 합니다. 아래 설치 방법은 주요 장애물을 넘어갈수 있도록 도와줄 것입니다. 이런 단계들을 거치고 나면 더 이상의 컴파일하지 않아도 실행시 에러 없이 ROS/Tutorials를 따라할 수 있습니다.

SVN 기반 설치(소스 다운로드 및 컴파일)

사전 설치 단계

• Get super-user access. You will need your system administrator to give you sudo access. If you can login as root yourself you can add sudo access to your account by running:

echo 'your_username ALL=(ALL) ALL' >> /etc/sudoers

• Install libyaml from source

cd /opt
sudo wget http://pyyaml.org/download/libyaml/yaml-0.1.3.tar.gz 
sudo tar -xzf yaml-0.1.3.tar.gz 
cd ./yaml-0.1.3 && sudo ./configure && sudo make && sudo make install

You can now sudo rm /opt/yaml-0.1.3.tar.gz if you want to.

• Build and install python-setuptools from source:

cd /opt
sudo wget http://slackbuilds.org/slackbuilds/13.1/development/pysetuptools.tar.gz
sudo tar -xzf pysetuptools.tar.gz
cd pysetuptools
sudo wget http://pypi.python.org/packages/source/s/setuptools/setuptools-0.6c11.tar.gz
sudo chmod +x pysetuptools.SlackBuild
sudo ./pysetuptools.SlackBuild

The output you see from building should end with something like: Slackware package /tmp/pysetuptools-0.6c11-i486-1_SBo.tgz created. Now create a directory where you will keep your compiled packages, and move this created package there for safekeeping and install it:

sudo mkdir /opt/installed_tgz
sudo mv /tmp/pysetuptools-0.6c11-i486-1_SBo.tgz  /opt/installed_tgz/
sudo /sbin/installpkg /opt/installed_tgz/pysetuptools-0.6c11-i486-1_SBo.tgz

You can now sudo rm -rf /opt/pysetuptools and the tar.gz file if you want to.

• Build and install logcxx from source:

cd /opt
sudo wget http://www.gtlib.gatech.edu/pub/apache//logging/log4cxx/0.10.0/apache-log4cxx-0.10.0.tar.gz
sudo tar -xzf apache-log4cxx-0.10.0.tar.gz  
cd apache-log4cxx-0.10.0

Unfortunately there are some issues currently between logcxx and the most recent version of gcc that Slackware uses. We will need to modify the logcxx code as follows.

First download the following two patch files to your log4cxx directory and apply them by issuing these commands:

sudo wget https://issues.apache.org/jira/secure/attachment/12439514/exampleFolder_stringInclude.patch --no-check-certificate
sudo wget https://issues.apache.org/jira/secure/attachment/12439513/cppFolder_stringInclude.patch --no-check-certificate
sudo patch -p1 -i cppFolder_stringInclude.patch 
sudo patch -p1 -i exampleFolder_stringInclude.patch 

Now you will need to prepend one line that the makers of log4cxx forgot to include in one of the example header files. Do this with the little trick below, or just use your text editor:

sudo touch console_temp.cpp && sudo chmod 777 console_temp.cpp && echo "#include <stdio.h>" | sudo tac src/examples/cpp/console.cpp - | sudo tac > console_temp.cpp && sudo mv console_temp.cpp src/examples/cpp/console.cpp

Now, finally we can build and install log4cxx:

sudo ./configure --prefix=/usr 
sudo make
sudo make install

You can now rm the .tar.gz file we downloaded if you want to.

• easyinstall pyyaml

sudo easy_install pyyaml

• Build and install wxWidgets (Optional). Many of the ROS graphical tools (turtlesim,rviz,gazebo,pr2_dashboard) assume you have a working installation of wxWidgets. In order to compile and use these tools build and install wxWidgets as follows:

cd /opt
sudo wget http://slackbuilds.org/slackbuilds/13.1/libraries/wxPython.tar.gz
sudo tar xvf wxPython.tar.gz 
cd wxPython
sudo wget http://downloads.sourceforge.net/wxpython/wxPython-src-2.8.11.0.tar.bz2
sudo chmod +x wxPython.SlackBuild
sudo ./wxPython.SlackBuild
sudo mv /tmp/wxPython-2.8.11.0-i486-1_SBo.tgz /opt/installed_tgz/
sudo /sbin/installpkg  /opt/installed_tgz/wxPython-2.8.11.0-i486-1_SBo.tgz

You can now sudo rm -rf /opt/wxPython and the .tar.gz file if you want to.

• Since rosdep cannnot detect the Slackware OS the commands in the section below will fail to detect the os, add a "-n" option to not automatically build. Then you will need to build manually like this, after manually resolving the dependencies.

. ~/ros/setup.sh
rosmake --no-rosdep rostest

source ~/ros/setup.sh

echo "source ~/ros/setup.sh" >> ~/.bashrc
. ~/.bashrc

source $ROS_ROOT/tools/rosbash/roszsh

echo "source ~/ros/setup.sh" >> ~/.zshrc
. ~/.zshrc