Last Update: January 2013
Tested on: Ubuntu 11.10 with ROS Electric
sudo apt-get install libicu-dev libxerces-c-dev openjdk-6-jdk libapr1-dev
cd $HOME mkdir uima
In the following code, replace $HOME/uima
with the location where you actually want your UIMA environment to reside.
export UIMA_WORKSPACE=$HOME/uima export UIMA_HOME=$UIMA_WORKSPACE/apache-uima export UIMACPP_HOME=$UIMA_WORKSPACE/uimacpp/install export PATH=$UIMACPP_HOME/bin:$UIMA_WORKSPACE/apache-maven/bin:$PATH export LD_LIBRARY_PATH=$UIMACPP_HOME/lib:$UIMA_WORKSPACE/iai-uima/ias-uima-cpp/lib:$LD_LIBRARY_PATH export CLASSPATH=$UIMA_WORKSPACE/iai-uima/ias-uima-java/bin export APR_HOME=/usr export ICU_HOME=/usr export XERCES_HOME=/usr export JAVA_HOME=/usr/lib/jvm/java-6-openjdk/ export JAVA_INCLUDE=$JAVA_HOME/include
At least up to Ubuntu 11.10, you need to get the Maven 3.0 or later binaries from http://maven.apache.org/download.html.
Extract everything into $UIMA_WORKSPACE/apache-maven
, so ls $UIMA_WORKSPACE/apache-maven
should give you something like:
bin boot conf lib LICENSE.txt NOTICE.txt README.txt
cd $UIMA_WORKSPACE svn co https://svn.apache.org/repos/asf/uima/uimacpp/trunk/ uimacpp
uimacpp will look for libapr-1.0.so which isn't there in Ubuntu, so we need to create a symlink to that:
cd /usr/lib sudo ln -s libapr-1.so libapr-1.0.so
Build everything
# deprecated - cd $UIMA_WORKSPACE/uimacpp/src # deprecated - make -f Makefile.prebuild # deprecated - make -f Makefile.unix install
Note: recent trunk seems to have a different build system setup, I had to do:
cd $UIMA_WORKSPACE/uimacpp ./autogen.sh ./configure --without-activemq --with-jdk=/usr/lib/jvm/java-6-openjdk/include --prefix=${UIMACPP_HOME} make install
What this will do is compile everything and create a couple of folders in $UIMACPP_HOME
, so ls $UIMACPP_HOME
should give you:
bin data include lib
Download and extract latest binaries to $UIMA_WORKSPACE
http://uima.apache.org/downloads.cgi
Doing ls $UIMA_WORKSPACE/apache-uima
should give something like
bin config docs eclipsePlugins examples issuesFixed lib LICENSE NOTICE README RELEASE_NOTES.html
Install ROS electric (see http://www.ros.org/wiki/fuerte/Installation/Ubuntu
):
sudo apt-get install ros-electric-desktop-full
Check out the trunk version of PCL (-r 8566 works) and add it your $ROS_PACKAGE_PATH
:
http://svn.pointclouds.org/ros/branches/electric/perception_pcl_unstable/
Note: trunk of pcl will be checked out in …/perception_pcl_unstable/pcl/build/pcl_trunk/ once you start running rosmake pcl. This is where you need to revert to revision 8566 if needed not the ros package home dir.
Install dependencies:
sudo apt-get install ros-electric-openni-kinect rosdep install pcl
Get the server. See: http://www.mongodb.org/display/DOCS/Ubuntu+and+Debian+packages
Get the lates client and unpack it to $UIMA_WORKSPACE http://dl.mongodb.org/dl/cxx-driver/
If you don't yet have it, get scons
sudo apt-get install scons
Before compiling the client, uncomment the following line in src/SConscript.client
env.SharedLibrary('mongoclient', clientSource),
Add this to the .bashrc
export MONGODBCLIENT_HOME=$UIMA_WORKSPACE/mongo-cxx-driver-v2.2/ export MONGODBCLIENT_HOME_INCLUDE=$MONGODBCLIENT_HOME/src
Check out code and submodules:
cd $UIMA_WORKSPACE git clone git@bitbucket.org:code_iai/iai-uima.git cd iai-uima git submodule init git submodule update
Install dependencies and compile ias-uima-cpp
:
rosdep install ias-uima-cpp rosmake ias-uima-cpp
Create a new eclipse Java project and use as location $UIMA_WORKSPACE/iai-uima/ias-uima-java/
. If Project → Build Automatically
is enabled ls $UIMA_WORKSPACE/iai-uima/ias-uima-java/bin/org/ias/uima/collectionreader/
should show:
Clock.class
To install apache, php and other things required for the database visualization website, look at $UIMA_WORKSPACE/iai-uima/www/README.txt
. To get histograms visualized as graphs, install libphp-jpgraph.
roslaunch openni_launch openni.launch rosrun dynamic_reconfigure reconfigure_gui # enable depth registration and hiRes RGB $UIMA_WORKSPACE/apache-uima/bin/cpeGui.sh # use as collection reader ias-uima-java/desc/ClockDescriptor and as analysis engine ias-uima-cpp/descriptors/analysis_engines/iaiGoggles.xml
In case the website complains that sorting needs mongodb index do the following…
mongo uima db.uima.ensureIndex({"scenes.timestamp":-1}) //double check : db.uima.getIndexes()
In case you RosKinnectBridge hangs check if depth registered is turned on in openni. you can do this by listening to the topic:
rostopic hz /camera/depth_registered/points
If RosKinnectBridge fails check the parameters for tf from to and camera frames in the description of the annotation.