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Building and Installing

OpenRAVE uses CMake, which can create the correct build systems files for a variety of system configurations. Refer to the pages below for specific systems:

If using bash shell and installing openrave to a local folder other than /usr or /usr/local, can execute the following script in ~/.bashrc to set all necessary paths to use openrave:

source /my/openraveinstall/share/openrave-x.y/openrave.bash

A more general method independent of openrave versions is

source `/my/openraveinstall/bin/openrave-config --share-dir`/openrave.bash

CMake Options

The root Makefile creates a build directory and calls cmake with a set of options. All compiled object files are stored in build. There are many cmake options that control how OpenRAVE is built. Once OpenRAVE is built, most of them can be set by executing

ccmake build

in the root sources folder. It is also possible to call cmake from the command line with a new set of options:

cd build; cmake -DCMAKE_INSTALL_PREFIX=/my/new/install/dir -DCMAKE_BUILD_TYPE=Debug ..

Install Directory Structure