OpenRAVE Documentation

Writing OpenRAVE Programs

Plugins

Creating OpenRAVE plugins allows others to use your work by just instantiating the interfaces through the RaveCreateX methods. Although it is highly recommended to start working with Python/Octave, eventually users should create plugins to offer their functionality through them.

The simplest way to create a plugin is through the openrave-createplugin.py program:

For example, the following command will create a plugin that offers MyNewModule Module:

openrave-createplugin.py myplugin --module MyNewModule

This creates a myplugin directory where all the files are written in. In order to compile and test it do:

cd myplugin
make
python testplugin.py

By default, the new plugin/executable is stored in the build folder. The following files are created to help users get started:

  • CMakeLists.txt - used to create Makefiles and Visual Studio solutions
  • Makefile - for Unix users, type ‘make’ to build the CMake project.
  • myplugin.cpp - main C++ file
  • testplugin.py - will load the plugin inside OpenRAVE and call its SendCommand method.
  • scenes/robots - directories holding scene and robot files

For more details, please see

Writing Plugins and Interfaces in C++

Programs

It is also possible to create and use OpenRAVE inside a program by linking with the openrave-core library. The simplest way to create an example program is:

openrave-createplugin.py myprogram --usecore

This will create a simple program that creates the OpenRAVE Environment and Loads a scene. The environment is created without attaching any viewer.

Questions/Feedback

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