===== Set up ROS =====

Recommended operating system is Ubuntu 12.04 LTS 64bit or 14.04 LTS 64bit.

Install ROS Indigo or Hydro (see ''http://wiki.ros.org/indigo/Installation''):
  
====== Installing RoboSherlock ======

Last Update: Oct. 29th, 2014

Tested on: Ubuntu 12.04 with ROS Hydro and 14.04 with ROS Indigo

==== Standard libraries ====

First of all install some standard libraries

  sudo apt-get install automake libxerces-c-dev libicu-dev openjdk-7-jdk libapr1-dev libgphoto2-2-dev mongodb libhdf5-serial-dev protobuf-compiler libtool
  
Install the necessary ros packages.\\
ROS Hydro:
  sudo apt-get install ros-hydro-openni-camera ros-hydro-openni-launch ros-hydro-rosjava
ROS Indigo:
  sudo apt-get install ros-indigo-openni-camera ros-indigo-openni-launch libcppnetlib-dev ros-indigo-pcl-ros
**NOTE:** For ROS Indigo there is no released rojava package at the moment. You can install it from source following these instructions: [[http://wiki.ros.org/rosjava/Tutorials/indigo/Installation]]

==== Installation location ====

Choose an installation location

  cd $HOME
  mkdir 3rdParty

==== Set up Bash ====

Put the right paths into your ~/.bashrc. In the following code, replace ''$HOME/uima'' with the location where you actually want your UIMA environment to reside.

  export TRD_PARTY_WORKSPACE=${HOME}/3rdParty
  export UIMA_HOME=${TRD_PARTY_WORKSPACE}/apache-uima
  export UIMACPP_HOME=${TRD_PARTY_WORKSPACE}/uimacpp/install  

  export PATH=${UIMACPP_HOME}/bin:${UIMA_HOME}/bin:${PATH}
  export LD_LIBRARY_PATH=${UIMACPP_HOME}/lib:${LD_LIBRARY_PATH}

  export APR_HOME=/usr
  export ICU_HOME=/usr
  export XERCES_HOME=/usr

  export JAVA_HOME=/usr/lib/jvm/java-7-openjdk-amd64/
  export JAVA_INCLUDE=${JAVA_HOME}/include
==== UIMA/C++ ====
Get UIMA/C++ from the SVN & build

  cd $TRD_PARTY_WORKSPACE
  svn co https://svn.apache.org/repos/asf/uima/uimacpp/trunk/ uimacpp

**12.04:** 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

**14.04:** uimacpp is old :(...sadly it looks only for old apr versions so we need to patch it.  {{:software:uima:setup:patch.tar.gz|Download}} patch and apply it in the root folder of the project.


  cd $TRD_PARTY_WORKSPACE/uimacpp
  ./autogen.sh
  ./configure --without-activemq --with-jdk=/usr/lib/jvm/java-7-openjdk-amd64/include --prefix=${UIMACPP_HOME} --with-icu=/usr
  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


==== UIMA Java SDK ====
Get the UIMA Java SDK Binaries. Download and extract latest binaries to ''$UIMA_HOME''

  http://uima.apache.org/downloads.cgi

Doing ''ls $UIMA_HOME'' should give something like

  bin  config  docs  eclipsePlugins  examples  issuesFixed  lib  LICENSE  NOTICE  README  RELEASE_NOTES.html

==== The IAS UIMA Repository ====
Get the IAS UIMA Repository. Check out code and submodules:

  cd $UIMA_WORKSPACE
  git clone git@github.com:code-iai/iai_robosherlock.git
  cd iai-robosherlock
  git submodule init
  git submodule update

Checkout dependencies and add them to your ROS_PACKAGE_PATH:

  git clone git@github.com:code-iai/entres.git
  git clone git@github.com:code-iai/iai_common_msgs.git
  git clone git@github.com:code-iai/designator_integration.git
  git clone git@github.com:code-iai/iai_photo.git
 
Now call

  catkin_make

**Note:** for single core machines run with //-j2//

**DEPRECATED**

Now ''ls $UIMA_WORKSPACE/iai-uima/ias_uima_rosjava/build/classes/main/org/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//.
===== Run Example =====
  roslaunch openni_launch openni.launch
  rosrun rqt_reconfigure rqt_reconfigure # enable depth registration and hiRes RGB
  cpeGui.sh # use as collection reader ias-uima-java/desc/ClockDescriptor and as analysis engine ias-uima-cpp/descriptors/analysis_engines/iaiGoggles.xml
  
  
===== Troubleshooting =====

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 your 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 RosKinectBridge fails check the parameters for tf ''from'', ''to'' and ''camera frames'' in the description of the annotation. 

===== Known Issues =====

FeatureClassifierAnnotator does not work if you link it to //plc_io or pcl_visualizer//. This is due to the incompatibility of the native //hdf5// library that comes with Ubuntu and the one used by the //icf// package