Install ROS Groovy (see http://www.ros.org/wiki/groovy/Installation/Ubuntu):

sudo apt-get install ros-groovy-desktop-full

Download UIMA Install Script and untar.

If install_uima.sh is not executable add x flag (chmod +x install_uima.sh) and afterwards call

source ./install_uima.sh

That will install RoboSherlock into your ROS Workspace (which means you need to have ROS installed and $ROS_WORKSPACE defined) and create an eclipse project in which you can develop your annotators etc.

Last Update: May 15th, 2013

Tested on: Ubuntu 12.04 with ROS Groovy

First of all install some standard libraries and PCL

sudo apt-get install libicu-dev libxerces-c-dev openjdk-7-jdk libapr1-dev ros-groovy-pcl ros-groovy-openni-camera ros-groovy-openni-launch

Choose an installation location

cd $HOME
mkdir uima

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 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-uima/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/build

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

Depending on your OS replace ARCH by amd64 or i386

export JAVA_HOME=/usr/lib/jvm/java-7-openjdk-ARCH/ 
export JAVA_INCLUDE=$JAVA_HOME/include

Get UIMA/C++ from the SVN & build

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

Note: recent trunk seems to have a different build system setup, I had to do:

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

Get the UIMA Java SDK Binaries. 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

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),

Now cd to MONGODBCLIENT_HOME, call scons and finally add

export MONGODBCLIENT_HOME=$UIMA_WORKSPACE/mongo-cxx-driver-v2.2/
export MONGODBCLIENT_HOME_INCLUDE=$MONGODBCLIENT_HOME/src
export LD_LIBRARY_PATH=$MONGODBCLIENT_HOME:$LD_LIBRARY_PATH

to your .bashrc.

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

cd $UIMA_WORKSPACE
git clone git@bitbucket.org:code_iai/iai-uima.git
git checkout experimental
cd iai-uima
git submodule init
git submodule update

Checkout dependencies and add them to your ROS_PACKAGE_PATH:

git clone git@bitbucket.org:code_iai/iai_perception_stack.git iai_perception
cd iai_perception && git checkout catkin
cd -
git clone git@bitbucket.org:code_iai/entres.git
cd entres && git checkout catkin
cd -
git clone git@bitbucket.org:code_iai/iai_msgs.git
cd iai_msgs && git checkout catkin
cd -
  

Now call

catkin_make_isolated --install

Change the following to rosjava

Finally (if not installed already) install ant browse to $UIMA_WORKSPACE/iai-uima/ias-uima-java/ant and call ant

sudo apt-get install ant
cd $UIMA_WORKSPACE/iai-uima/ias-uima-java/ant
ant

Now ls $UIMA_WORKSPACE/iai-uima/ias-uima-java/build/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 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

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.

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