To use ORK, you will need a compiled ORK and couchDB (for object management). Following instructions in this page will help you to:
  • Install ORK either from precompiled ROS packages or from source code
  • Install couchDB and setup the database for ORK
  • Compile the documentation so that you can consult it locally (useful when no internet connection is around)


From the ROS repositories

Install the ros-*-object-recognition-core package from the official ROS repositories and the different pipelines (packages starting with ros-*-object-recognition-).

Download & Build from Source

First, build your workspace:

mkdir -p ork/src && cd ork/src

If you want to install from source without ROS, you need to have common dependencies (OpenCV, PCL) on your path. You also need to execute the following:

git clone
ln -s catkin/cmake/toplevel.cmake CMakeLists.txt
cd ../ && git clone
export PYTHONPATH=`pwd`/catkin_pkg/src:$PYTHONPATH
cd src

catkin is a set of CMake macros that simplify build and maintenance.

Then install the ecto modules:

git clone
git clone
git clone
git clone
git clone
git clone
git clone

First source your ROS setup file (adapt DISTRO to the ROS distribution you are using):

export DISTRO=indigo
sudo apt-get install libopenni-dev ros-${DISTRO}-catkin ros-${DISTRO}-ecto* ros-${DISTRO}-opencv-candidate ros-${DISTRO}-moveit-msgs
source /opt/ros/${DISTRO}/

Then install any pipeline you need:

git clone
git clone
git clone
git clone
git clone
git clone
git clone
git clone

any ROS stuff:

Nothing for non-ROS.

git clone
git clone
git clone

and then build your code:

cd ../ && mkdir build && cd build && cmake ../src && make
cd ../ && catkin_make

If you are a developer and have write access to the repositories, search and replace http:// above and replace by

To maintain your code, each folder is each own git repository and you can pull/push from there.

rosinstall file

Under ROS, you can alternatively use that rosinstall file ork.rosinstall.indigo.jade on Indigo/Jade or on Kinetic and above.

To use on Kinetic, do the following:

mkdir ws && cd ws
wstool init src
cd src && wstool update -j8
cd .. && rosdep install --from-paths src -i -y
source devel/setup.bash

Configuring the database

For that, just refer to the DB Page.

Building the documentation

Before you can build the documentation (which you are reading right now), you need to have followed the installation instructions and have already successfully called make in the build folder.

You then need some up to date packages:

sudo pip install -U breathe catkin-sphinx sphinxcontrib-programoutput

From root, just type:

cd build
make doxygen
make sphinx-doc

You will find the generated documentation under build/doc/html.

Once the documentation is built, you can simply copy it (except for the .doctree folder) to the gh-pages branch on GitHub.