Required library XENOMAI NOT FOUND

[drscopus]

Hi, all. I want to use orocos_rrt in a laptop installed with Ubuntu14.04.
I have updated the kernel with Xenomai by following this instruction.

Then I installed orocos_toolchain by following commands

export OROCOS_TARGET=xenomai
mkdir -p ~/ws/underlay_isolated/src/orocos
cd ~/ws/underlay_isolated
git clone --recursive https://github.com/orocos-toolchain/orocos_toolchain.git src/orocos/orocos_toolchain
catkin_make_isolated --install
source install_isolated/setup.sh

However, the orocos_toolchain cannot be complied successfully at the "catkin_make_isolated --install" step. The output errors are listed below. I googled but didn't find a solution.

Please give me great advice! Thanks!

-- Could NOT find Xerces (missing: XERCES_C_LIBRARY XERCES_INCLUDE_DIR) 
Orocos target is xenomai
XENOMAI_INCLUDE_DIR=XENOMAI_INCLUDE_DIR-NOTFOUND
XENOMAI_NATIVE_LIBRARY=XENOMAI_NATIVE_LIBRARY-NOTFOUND
CMake Error at config/LibFindMacros.cmake:74 (message):
  Required library XENOMAI NOT FOUND.

  Install the library (dev version) and try again.  If the library is already
  installed, set the XENOMAI_ROOT_DIR environment variable or use cmake to
  set the missing variables manually.
Call Stack (most recent call first):
  config/FindXenomai.cmake:72 (libfind_process)
  config/check_depend.cmake:147 (find_package)
  CMakeLists.txt:115 (INCLUDE)


-- Configuring incomplete, errors occurred!
See also "/home/new/ws/underlay_isolated/build_isolated/rtt/install/CMakeFiles/CMakeOutput.log".
<== Failed to process package 'rtt': 
  Command '['/home/new/ws/underlay_isolated/install_isolated/env.sh', 'cmake', '/home/new/ws/underlay_isolated/src/orocos/orocos_toolchain/rtt', '-DCMAKE_INSTALL_PREFIX=/home/new/ws/underlay_isolated/install_isolated', '-G', 'Unix Makefiles']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/new/ws/underlay_isolated/build_isolated/rtt && /home/new/ws/underlay_isolated/install_isolated/env.sh cmake /home/new/ws/underlay_isolated/src/orocos/orocos_toolchain/rtt -DCMAKE_INSTALL_PREFIX=/home/new/ws/underlay_isolated/install_isolated -G 'Unix Makefiles'

[roboticsai]

i also had this same error. U need to clone or use orocos-toolchain branch master not others. Try this and if it succedes in your system also , tell me.

[roboticsai]

https://gist.github.com/cbhust/62a01ff22007b9695ef1da2ccc16b993