1. Copy /src/modules/ros from ros branch to /src/modules/ros on master branch.
   
2. Add These definitions to setup_posix.sh:
   
   
   
   • -DCMAKE_BUILD_TYPE=Debug
     
   • -DFORTE_MODULE_ROS=ON
     
   • -DFORTE_COM_ROS=ON
     
   • -DFORTE_RTTI_AND_EXCEPTIONS=TRUE
     

• chmod +x setup_posix.sh
  
• ./setup_posix.sh

  ----------------------------------------------------------------------------
   Automatically set up development environment for POSIX-platform
  ----------------------------------------------------------------------------
  
   Includes 64bit-datatypes, float-datatypes, Ethernet-Interface,
   ASN1-encoding, ...
  
   To include tests set directories for boost-test-framework and 
   set FORTE_TESTS-option to 'ON'
  
  ----------------------------------------------------------------------------
  For building forte go to bin/posix and execute "make"
  forte can be found at bin/posix/src
  forte_tests can be found at bin/posix/tests
  -- The C compiler identification is GNU 4.8.4
  -- The CXX compiler identification is GNU 4.8.4
  -- Check for working C compiler: /usr/bin/cc
  -- Check for working C compiler: /usr/bin/cc -- works
  -- Detecting C compiler ABI info
  -- Detecting C compiler ABI info - done
  -- Check for working CXX compiler: /usr/bin/c++
  -- Check for working CXX compiler: /usr/bin/c++ -- works
  -- Detecting CXX compiler ABI info
  -- Detecting CXX compiler ABI info - done
  No Log Level was specified. Setting Log Level to Debug default LOGINFO.
  -- FORTE_EXTERNAL_MODULES_DIRECTORY: 
  [FORTE] CMake variable FORTE_ARCHITECTURE: Posix
  [FORTE] CMake variable FORTE_COM_ROS: ON
  [FORTE] CMake variable FORTE_MODULE_ROS: ON
  [FORTE] CMake variable FORTE_TRACE_EVENTS: OFF
  -- Configuring done
  -- Generating done
  -- Build files have been written to: /home/victor/forte-master/bin/posix
  

  
  
• cd bin/posix/
  
• make, then I got this error:
  

  [ 50%] Building CXX object src/CMakeFiles/forte.dir/__/core/cominfra/comlayersmanager.cpp.o
  /home/victor/forte-master/bin/posix/core/cominfra/comlayersmanager.cpp: In static member function 'static forte::com_infra::CComLayer* forte::com_infra::CComLayersManager::createCommunicationLayer(char*, forte::com_infra::CComLayer*, forte::com_infra::CBaseCommFB*)':
  /home/victor/forte-master/bin/posix/core/cominfra/comlayersmanager.cpp:44:61: error: invalid conversion from 'forte::com_infra::CBaseCommFB*' to 'forte::com_infra::CCommFB*' [-fpermissive]
       m_poNewLayer = new CROSLayer(pa_poUpperLayer, pa_poComFB);
                                                               ^
  In file included from /home/victor/forte-master/bin/posix/core/cominfra/comlayersmanager.cpp:22:0:
  /home/victor/forte-master/src/modules/ros/ROSLayer.h:30:5: error:   initializing argument 2 of 'CROSLayer::CROSLayer(forte::com_infra::CComLayer*, forte::com_infra::CCommFB*)' [-fpermissive]
       CROSLayer(forte::com_infra::CComLayer* pa_poUpperLayer, forte::com_infra::CCommFB* pa_poComFB);
       ^
  In file included from /opt/ros/indigo/include/ros/ros.h:38:0,
                   from /home/victor/forte-master/src/modules/ros/ROSLayer.h:16,
                   from /home/victor/forte-master/bin/posix/core/cominfra/comlayersmanager.cpp:22:
  /opt/ros/indigo/include/ros/time.h: In instantiation of 'T& ros::TimeBase<T, D>::fromSec(double) [with T = ros::Time; D = ros::Duration]':
  /opt/ros/indigo/include/ros/time.h:187:31:   required from here
  /opt/ros/indigo/include/ros/time.h:157:11: warning: conversion to 'uint32_t {aka unsigned int}' from 'long unsigned int' may alter its value [-Wconversion]
         sec += (nsec / 1000000000ul);
             ^
  /opt/ros/indigo/include/ros/time.h: In instantiation of 'T& ros::TimeBase<T, D>::fromSec(double) [with T = ros::WallTime; D = ros::WallDuration]':
  /opt/ros/indigo/include/ros/time.h:242:35:   required from here
  /opt/ros/indigo/include/ros/time.h:157:11: warning: conversion to 'uint32_t {aka unsigned int}' from 'long unsigned int' may alter its value [-Wconversion]
  make[2]: *** [src/CMakeFiles/forte.dir/__/core/cominfra/comlayersmanager.cpp.o] Error 1
  make[1]: *** [src/CMakeFiles/forte.dir/all] Error 2
  make: *** [all] Error 2
  

  
  

@Alois: We still have some issues when initializing the ROS features in forte.

I will have a look at this again. But unfortunately not before mid of next week..

Cheers,
Ben