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Retalis Language for Information Processing and Management in Autonomous Robot Software

Copyright (C) 2014 __Pouyan Ziafati__ pziafati@gmail.com __

University of Luxembourg, Supported by the Fonds National de la Recherche, Luxembourg

Retalis Integrates the ELE language of the complex event processing system ETALIS ( http://code.google.com/p/etalis )

Retalis is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

Retalis is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with Retalis. If not, see <http://www.gnu.org/licenses/>.

****/

*** Installation:

Step 0: it is assumed that the "retalis" package has been downloaded to the "catkin_ws/src" folder

Step 1: install OpenGL Mathematics (GLM)

1- sudo apt-get install libglm-dev

Step 2: install SWI-PL as a shared library

1- Download pl source code (6.2.2. for me) from http://www.swi-prolog.org/download/stable

2- Extract the tarball and edit the build.templ file as follows:

Set PREFIX=/usr

Set SUDO="sudo"

Disable some library that might cause problem by uncommenting

export DISABLE_PKGS="ssl xpce zlib"

Uncomment the following

EXTRACFG+=" --enable-shared"

3- Run build.templ. (as root)

4- Make sure libswipl.so has been created. In my system, it is found at

/usr/lib/swipl-6.2.2/lib/i686-linux/libswipl.so

Step 3: install Retalis as follows

1- In the CMakeLists.txt file, change "/usr/lib/swipl-6.6.6/include" and "/usr/lib/swipl-6.6.6/lib/x86_64-linux" to refer to the include and lib folders of your SWI-PL installtion, respectively

2- catkin_make (in your catkin workspace)

3- roscd retalis

4- In the install.py file, change '/home/robolab/catkin_ws' and '/usr/lib/swipl-6.6.6/lib/x86_64-linux' to refer to the catkin workspace and the lib folder of your SWI-PL installation, respectively

4- Run the install.py file as root (you might first need to make the install.py file executable by: sudo chmod +x install.py)