Download the sources from sourceforge.
git clone --branch latest_stable https://github.com/rdiankov/openrave.git
OpenRAVE works only with qt4! Before compiling SoQt or OpenRAVE make sure to remove any qt3 related dev packages like qt3-dev-tools
or libqt3-headers
.
If there are compilation errors with templates, might have to use gcc version 4.1 or greater. You can check your version of gcc by gcc –version
This is for the dependencies to OpenRAVE, make sure to run them regardless of the OpenRAVE version being installed from sources.
sudo add-apt-repository ppa:openrave/release sudo sh -c 'echo "deb-src http://ppa.launchpad.net/openrave/release/ubuntu `lsb_release -cs` main" >> /etc/apt/sources.list.d/openrave-release-`lsb_release -cs`.list' sudo apt-get update sudo apt-get build-dep openrave
Can run the following script inside openrave sources:
#!/bin/bash sudo apt-get install g++ libqt4-dev qt4-dev-tools ffmpeg libavcodec-dev libavformat-dev libxvidcore-dev libx264-dev libfaac-dev libogg-dev libvorbis-dev libdc1394-dev liblame-dev libgsm1-dev libboost-dev libboost-regex-dev libxml2-dev libglew-dev libboost-graph-dev libboost-wave-dev libboost-serialization-dev libboost-filesystem-dev libpcre3-dev libboost-thread-dev libmpfr-dev libboost-date-time-dev libqhull-dev libswscale-dev lapack3-dev sudo apt-get remove cmake qt3-dev-tools libqt3-headers libode0debian1 python-sympy # cmake - need to use version >=2.6.0, default cmake in ubuntu 8.04 is 2.47, which will not work. wget http://www.cmake.org/files/v2.8/cmake-2.8.7.tar.gz cd cmake-2.8.7 ./configure make sudo make install # ode - Will need to install ODE from sources (do not use the one in the package manager) wget https://downloads.sourceforge.net/project/opende/ODE/0.11.1/ode-0.11.1.tar.bz2 tar xjf ode-0.11.1.tar.bz2 cd ode-0.11.1 ./configure --with-libccd=cyl-cyl --with-trimesh=opcode --enable-new-trimesh --disable-demos --enable-shared --with-arch=nocona --enable-release --enable-malloc --enable-ou --disable-asserts --with-pic --enable-double-precision make -j4 sudo make install # soqt wget http://ftp.coin3d.org/coin/src/all/SoQt-1.5.0.tar.gz tar xzf SoQt-1.5.0.tar.gz cd SoQt-1.5.0 ./configure make sudo make install
Might need to add the livna yum repository for ffmpeg. To install the necessary packages type
sudo yum install qt4-devel Coin2-devel glew-devel gsm-devel x264 x264-devel ffmpeg-devel libdc1394-devel libtheora-devel libmp4v2-devel ode-devel boost-devel cmake
Be careful if installing soqt-devel from the package manager, it may be compiled with the wrong version of Qt. If compiling SoQt from sources, check QTDIR
and make sure it points to the correct version.
(Only install these libraries from sources if not in package manager.
src/Inventor/Qt/SoQtComponent.cpp
:103 and replace unsigned long key
with SbDict::Key key
. Although OpenRAVE is not tied to any particular collision checker, it requires at least one is installed to get basic functions. Here are the following libraries that have OpenRAVE plugins:
–enable-new-trimesh
option will randomly crash openrave, so use at your own risk.–disable-asserts
) is necessary due to some weird bug in normalization bug.–enable-shared
.pkg-config
. If using autotools configure
, need to remove install-sh
before running autogen.sh
. Bullet is detected using pkg-config
, so bullet.pc
is needed.In order to use the python bindings through the openravepy module, you'll need to install python, boost python, python numpy, and python sympy.
sudo apt-get install libboost-python-dev python python-dev python-numpy ipython
Optional:
sudo apt-get install python-scipy
Make sure to set the Python path correctly in the ~/.bashrc file with:
export PYTHONPATH=$PYTHONPATH:`openrave-config --python-dir`
Both Octave and Matlab are supported and the OpenRAVE build system automatically detects and compiles the mex files for each.
Octave users:
mkoctfile
is in your path. If installing octave from the package managers, also install the octave headers package.$OPENRAVE_INSTALL/share/openrave-x
.y/octave to OCTAVE_PATH (default is /usr/local/share/openrave-x
.y/octave).Matlab users:
mex
is in the system path$OPENRAVE_INSTALL/share/openrave-x
.y/matlab and addit to the MATLAB Path.After all necessary libraries have been installed, it is time to finally build and install OpenRAVE. In the root openrave folder type
make
This will compile all files. To install all the files type
make install
Because multiple openrave versions can co-exist in a system, to install all files except symlinks so that previous installations are not clobbered, do:
make altinstall
To choose a different install directory, type
make prefix=/my/new/dir
In case libraries are added after the initial install of OpenRAVE, remove the cmake cached files using:
rm build/CMakeCache.txt
If the cached files are not removed, the new system settings will not be noticed.
Can enable automatic completion of several openrave programs like openrave.py
by sourcing the openravebash
file. Add this to your ~
./.bashrc file:
source `openrave-config --share-dir`/openravebash