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):

Last Update: Mar 11th, 2014

Tested on: Ubuntu 12.04 with ROS Hydro

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 libcppnetlib-dev protobuf-compiler

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

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

Choose an installation location

cd $HOME
mkdir 3rdParty

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

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. Download and apply.

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

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

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.

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