Installation
From OpenRAVE
All of this software runs on Linux and most of it uses open-source packages supported by various research groups around the world. The specific distribution we use is Ubuntu 9.10 Karmic Koala for i386 (x86) architecture.
Contents |
System Installation
If you are lucky enough to have a PR2, check out the: PR2 Installation
This step has to be done only once per system. First, open a terminal and run this command to install all necessary system packages:
Ubuntu 8.10
apt-get install g++ openssh-server cmake autoconf automake libqt4-dev qt4-dev-tools ffmpeg libavcodec-dev libavformat-dev libxvidcore4-dev libx264-dev libfaac-dev libogg-dev libvorbis-dev libraw1394-dev libdc1394-22-dev libgsm1-dev libboost-dev libboost-regex-dev libxml2-dev libglew1.5-dev libsoqt4-dev libboost-graph-dev libode0-dev libboost-wave-dev libboost-serialization-dev libboost-filesystem-dev octave3.0 octave3.0-headers octave-image octave-symbolic octave-time octave-struct octave-strings octave-statistics octave-sockets octave-plot octave-physicalconstants octave-outliers octave-optim octave-nan octave-missing-functions octave-linear-algebra octave-io octave-irsa octave-gsl octave-general octave-data-smoothing octave-control subversion build-essential python-dev pkg-config libapr1-dev libaprutil1-dev wget libbz2-dev python-yaml python-paramiko python-crypto python-pydot libgtk2.0-dev swig libsuitesparse-dev libglpk-dev python-numpy python-scipy coriander python-imaging-tk python-tk python-matplotlib
Ubuntu 9.10
apt-get install g++ openssh-server cmake autoconf automake libqt4-dev qt4-dev-tools ffmpeg libavcodec-dev libavformat-dev libxvidcore4-dev libx264-dev libfaac-dev libogg-dev libvorbis-dev libraw1394-dev libdc1394-22-dev octave3.2 octave3.2-headers subversion build-essential python-dev pkg-config libapr1-dev libaprutil1-dev wget libbz2-dev python-yaml python-paramiko python-crypto python-pydot libgtk2.0-dev swig libsuitesparse-dev libglpk-dev python-numpy python-scipy coriander python-imaging-tk python-tk python-matplotlib
add a symlink:
sudo ln -s /usr/lib/libboost_python-mt-py26.so /usr/lib/libboost_python-mt.so
Ubuntu 10.04
sudo apt-get install g++ openssh-server cmake autoconf automake libqt4-dev qt4-dev-tools ffmpeg libavcodec-dev libavformat-dev libxvidcore-dev libx264-dev libfaac-dev libogg-dev libvorbis-dev libraw1394-dev libdc1394-22-dev octave3.2 octave3.2-headers subversion build-essential python-dev pkg-config libapr1-dev libaprutil1-dev wget libbz2-dev python-yaml python-paramiko python-crypto python-pydot libgtk2.0-dev swig libsuitesparse-dev libglpk-dev python-numpy python-scipy coriander python-imaging-tk python-tk python-matplotlib
Mac OSX 10.5 (Leopard)
port install openssh cmake autoconf qt4-mac boost libxml2 glew octave octave-image octave-time octave-struct octave-strings octave-statistics octave-sockets octave-plot octave-physicalconstants octave-outliers octave-optim octave-nan octave-missing-functions octave-linear-algebra octave-io octave-irsa octave-general octave-data-smoothing octave-control wget bzip2 pkgconfig py25-yaml py25-paramiko py25-crypto py25-dot swig gtk2 py25-numpy py25-scipy apr-util
You'll need to install libraw1394, libdc1394, coriander, and soqt from sources.
User Installation
If you will be running ROS between multiple computers, You should now follow the directions for Multiple Computer Install
This step has to be done for every different user.
ROS Installation
NOTE:
- Be sure to follow this guide exactly!
- This guide assumes you do not have a ~/ros folder. If you do, remove it, otherwise setup.sh will not generate.
Download the rosinstall tool:
wget --no-check-certificate http://ros.org/rosinstall -O ~/rosinstall chmod 755 ~/rosinstall
Download the custom openrave.install file and install ROS with:
wget -O openrave.rosinstall http://openrave.programmingvision.com/images/3/3c/Openrave.rosinstall ~/rosinstall ~/ros openrave.rosinstall
- If you already have ros installed, please checkout only the openrave_planning stack and its dependencies, which can be viewed from the stack.xml file.
- Execute this line to create ~/.bashrc.ros with ros environment variables (this overwrites the previous file).
cp ~/ros/setup.sh ~/.bashrc.ros source ~/.bashrc.ros echo "export OCTAVE_PATH=\$OCTAVE_PATH:\$ROS_ROOT/core/experimental/rosoct/octave export PATH=\$PATH:\`rospack find openrave\`/bin export PYTHONPATH=\$PYTHONPATH:\`rospack find openrave\`/share/openrave export OPENRAVE_DATA=\$OPENRAVE_DATA:\`rospack find openrave\`/share/openrave export OPENRAVE_PLUGINS=\$OPENRAVE_PLUGINS:\`rospack find orrosplanning\`/lib:\`rospack find openrave_robot_control\`/lib:\`rospack find openrave_sensors\`/lib export ROS_PARALLEL_JOBS=-j`grep -c processor /proc/cpuinfo` source \`openrave-config --prefix\`/share/openrave/openravebash " >> ~/.bashrc.ros
- In the ~/.bashrc file add:
source ~/.bashrc.ros
- Optional: If using octave, in the ~/.octaverc file add at the end (create it if it does not exist):
more off
[status,rosoctpath] = system(['rospack find rosoct']);
rosoctpath = strtrim(rosoctpath);
addpath(fullfile(rosoctpath, 'octave'));
addpath(fullfile(rosoct_findpackage ('openrave'),'share','openrave','octave'))
- Optional: Use the newest opencv stack since official releases cannot keep up with changes:
svn switch https://code.ros.org/svn/ros-pkg/stacks/vision_opencv/trunk `rospack find opencv2`/..
- Once all variables are set, close all terminals and create a new one, then make ros:
roscd; make
- To build all files associated with an openrave example, start a new terminal, then:
rosdep install orrosplanning rviz rosmake openraveros orrosplanning openrave_robot_control openrave_sensors
