[英]Facing openrave installation error
按照其他博客网站上的官方指南和说明,我在安装openravepy模块时遇到问题。 这真的很复杂。
有人可以在catkin_workspace中使用ubuntu 14.04.4,ROS indigo发行版和我尝试运行的脚本给我一个软件包安装说明吗
我在Ubuntu 14.04和ROS Indigo上使用OpenRAVE。
我在这里遵循了本教程。 以下是从提供的教程中摘录的内容。
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
和
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
安装collada:
sudo apt-get update
sudo apt-get install collada-dom-dev
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
sudo apt-add-repository ppa:imnmfotmal/libccd
sudo apt-get update
sudo apt-get install libccd
构建并安装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
降级sympy,以使IKFast正常工作:
pip install --upgrade --user sympy==0.7.1
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
通过运行以下命令测试安装:
openrave.py --example graspplanning
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