You are viewing the old homepage of Jürgen Sturm which is no longer updated (as of March 1, 2011).
The new homepage is located here:


Most probably, you will need to install several packages in order to compile and run the progams of this package. On a fresh Ubuntu 7.10 system, you can install everything with the following line:

$ sudo apt-get install \
   gawk g++ autoconf automake libtool cmake git-core \
   libglut3 libglut3-dev libxmu-dev \
   libboost-dev libboost-graph-dev \
   libgsl0-dev \
   libwxgtk2.8-0 libwxgtk2.8-dbg libwxgtk2.8-dev \
   graphviz mencoder libcv-dev libcvaux-dev libhighgui-dev


You can download the latest version of the Zora software from here. A snapshot of the source code from 10/23/2009 is also available here.

For read-write access, you will need a valid user account on the AIS machines (via SSH):

$ git clone

There is also a web-based interface for manual browsing located here, and a brief summary on frequently used git commands. If you have any trouble downloading (or installing) Zora, please don't hesitate to contact me.

Compilation and Startup

Using the CMake Build System

This is the easiest and safest way to compile and run the ZORA programs.

Bootstrap the CMake build system:

$ ./utils/

Configure it to your system:

$ ccmake .

Compile everything (silently, on two cores):

$ make -s -j2

Start zoracontrol:

$ ./zoracontrol

In order for IPC (the network communication) to work, you will need to start the central server before connecting. Open a new terminal window, and login to the robot:

$ ssh

There, start the central server and send it to the background:

$ ./central &

Then, you can start the zoraserver program:

$ ./zoraserver --components=ipc,powercube,touchsensor

Using Eclipse

Bootstrap the CMake toolchain and create a Eclipse project:

$ ./utils/

Import this newly created project into Eclipse, i.e., click “File” –> “Import..” –> “General/Existing Projects into Workspace”. Browse for the root directory, e.g., '/home/lollypop/sturm/zora', then click on finish.

Now click on “Project” –> “Build project”, and lean back.

Then click on “Run” –> “Run”, and select the “zoracontrol” binary. If asked, select the “gdb Debugger” configuration.

I recommend to set some options for make. Click on “Project” –> “Properties” –> “C/C++ Make Project”, and add to the build command ('/usr/bin/make') the options -s (silent, less output) and -j2 in order to use both CPU cores for building. Then click on OK.

Using the Autotools Build System (deprecated)

For new projects, please (try to) use the CMake Build System. The Autoconf Build System is still there for compatability reasons.

Bootstrap the autotools toolchain:

$ ./bootstrap

Run configure:

$ ./configure

Build the project:

$ make

Start the GUI:

$ ./src/zoracontrol

last modified on 2009/12/07 12:15