面对openrave安装错误

Question

I am facing a problem while installing openravepy module , by following official guide and instructions on other blog sites. It is really complicated.

Can someone give me one package installation instructions using ubuntu 14.04.4, ROS indigo distribution , and script that I am trying to run is in catkin_workspace

Answer 1

I am using OpenRAVE over Ubuntu 14.04 and ROS Indigo.

I followed this tutorial here . Below is extraction from the tutorial provided.

Install dependencies:

sudo apt-get install cmake g++ git ipython octave python-dev python-h5py python-numpy \
python-pip python-scipy python-sympy qt4-dev-tools zlib-bin

and

sudo apt-get install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev     \
libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libfreetype6-dev    \
libglew-dev  libgsm1-dev liblapack-dev libmpfi-dev libmpfr-dev libode-dev libogg-dev  \
libpcre3-dev libpcrecpp0 libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev      \
libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev

Install collada:

sudo apt-get update
sudo apt-get install collada-dom-dev

OpenSceneGraph

cd ~/git
git clone https://github.com/openscenegraph/OpenSceneGraph.git --branch OpenSceneGraph-3.4
cd OpenSceneGraph
mkdir build; cd build
cmake .. -DDESIRED_QT_VERSION=4
make -j `nproc`
sudo make install

FCL - The Flexible Collision Library

sudo apt-add-repository ppa:imnmfotmal/libccd
sudo apt-get update
sudo apt-get install libccd

Build and install FCL 0.5.0:

cd ~/git
git clone https://github.com/flexible-collision-library/fcl
cd fcl; git reset --hard 0.5.0
mkdir build; cd build
cmake ..
make -j `nproc`
sudo make install

sympy Version

Downgrade sympy so that IKFast works properly:

pip install --upgrade --user sympy==0.7.1

Build OpenRAVE from source:

cd ~/git
git clone https://github.com/rdiankov/openrave.git
cd openrave; git reset --hard 81ec501
mkdir build; cd build
cmake -DODE_USE_MULTITHREAD=ON -DOSG_DIR=/usr/local/lib64/ ..
make -j `nproc`
sudo make install

Test your installation by running:

openrave.py --example graspplanning