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Update to Ruben's answer:

Create a catkin workspace: mkdir ~/orocos_ws cd ~/orocos_ws catkin_init_workspace

Clone the repository using: (2.x where x is the version of orocos that you require from the git branch) git clone --recursive -b toolchain-2.x https://github.com/orocos-toolchain/orocos_toolchain.git src

Temporarily add the src directory to your ROS_PACKAGE_PATH: export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/orocos_ws/src

Manually resolve recursive dependencies: apt-get install ruby ruby-dev gem install rake hoe

Install any missing dependencies: rosdep install orocos_toolchain

Run the env.sh script and build: source src/env.sh catkin_make_isolated --install

Add this line to your ~/.bashrc file to run the setup script for our workspace: source $HOME/orocos_ws/install_isolated/setup.bash

and voila you'll have orocos-toolchain installed. Further, you can independently check if rtt-geometry, rtt-comm, rtt-ros-integration are installed by following instructions in this link: http://www.ias.tu-darmstadt.de/BioRob/BioRobX6ultraROS

Cheers :)