Difference between revisions of "User:Moises"

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-This guide tries to help new OpenRave users installing and running the software.
-First of all, for downloading yarpmods repository, just type:
-          sudo apt-get install subversion
-[[File:Img1.PNG]]
-[[File:Img2.PNG]]
-          svn co https://roboticslab.svn.sourceforge.net/svnroot/roboticslab/yarpmods
-[[File:Img3.PNG]]
-Next step is installing basic yarp dependencies:
-         sudo apt-get install cmake libace-dev subversion
-         svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2
-         sudo apt-get install build-essential cmake-curses-gui
-Next sentence allows us setting the YARP_DIR environment variable to yarp2/build through ~/.profile (persistent throughout entire session):
-echo "export YARP_DIR=$PWD/yarp2/build" >> ~/.profile
-[[File:Img4.PNG]]
-         cd yarp2
-         mkdir build
-         cd build
-         cmake ..
-         make -j3
-[[File:Img5.PNG]]
-         sudo make install
-         cd ../..
-YARPMODS_DIR environment variable setting to yarpmods/build:
-         echo "export YARPMODS_DIR=$PWD/yarpmods/build" >> ~/.profile
-[[File:Img6.PNG]]
-         cd yarpmods
-         mkdir build
-         cd build
-         cmake ..
-         make -j3
-         cd ../..
-Project organization:
-The executables in build/bin (empty until module activation).
-The shared files (models, config files) in build/share.
-The libraries in build/lib.
-[[File:Img7.PNG]]
-Yarp and yarpmods dependencies are now installed. After this, we must activate each module (printbot, RaveBot, CartesianKontroller).
-printbot
-Type at the terminal:
-         cd yarpmods
-         cd build
-         ccmake ..
-This will appear on screen:
-          CMAKE_BUILD_TYPE
-          CMAKE_INSTALL_PREFIX             /usr/local
-          ENABLE_rlYarpmods_cartesiankon   OFF
-          ENABLE_rlYarpmods_printbot       OFF
-          ENABLE_rlYarpmods_ravebot        OFF
-          ENABLE_rlYarpmods_robotcontrol   OFF
-          YARP_AUTO_LINK                   OFF
-          YARP_DIR                         /usr/local/lib/YARP-2.3.3
-          enable_YARPMODS_TESTS            ON
-[[File:Img8.PNG]]
-We must select ENABLE_rlYarpmods_printbot, press enter and then press (C), (E), (C), (E), (G) (configure and exit alternatively until the option generate appears).
-[[File:Img9.PNG]]
-[[File:Img10.PNG]]
-          make -j3
-          sudo make install
-We can check test_printbot appears in the yarpmods/build/bin directory:
-RaveBot:
-Installing basic dependencies:
-          sudo apt-get install libqt4-dev qt4-dev-tools libxml2-dev libode-dev libsoqt4-dev libcoin60-dev libboost-all-dev
-          sudo apt-get install subversion
-          svn co https://openrave.svn.sourceforge.net/svnroot/openrave/trunk openrave
-          sudo cp openrave/src/cppexamples/FindOpenRAVE.cmake /usr/share/cmake-X.X/Modules							(X.X is your cmake version)
-Install more dependencies required:
-          sudo apt-get install libavformat-dev libswscale-dev zlib-bin bzip2 python-numpy octave3.2-headers libpcrecpp0
-Finally compile with:
-          cd openrave
-          mkdir build
-          cd build
-          cmake ..
-          make -j3
-          sudo make install
-You should have test_ravebot in your bin directory if everything went correctly.
-[[File:Img11.PNG]]
-Now, we must enable RaveBot module as usual with:
-          cd yarpmods
-	  cd build
-	  ccmake ..
-Set ENABLE_rlYarpmods_ravebot ON as seen with printbot module and press (C) (E) (C) (E) (G).
-[[File:Img12.PNG]]
-          make -j3
-          sudo make install
-          cd
-          export PATH=$PATH:/openrave/build
-CartesianKontroller:
-Eigen and KDL libraries must be downloaded
-          svn checkout http://svn.mech.kuleuven.be/repos/orocos/trunk/kdl
-          cd kdl
-          mkdir build
-Install libeigen2.dev from Synaptic (System – Administration – Synaptic Package Manager):
-[[File:Img13.PNG]]
-          cmake ..
-          make -j3
-          sudo make install
-          cd
-          sudo cp kdl/config/FindEigen2.cmake /usr/share/cmake-2.8/Modules
-          sudo cp kdl/build/orocos-kdl-config.cmake kdl/config/FindEigen2.cmake /usr/share/cmake-2.8/Modules
-Environment variable setting:
-          echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib" >> ~/.profile
-Compiling and enabling the module:
-          cd yarpmods
-          cd build
-          ccmake ..
-          (C)
-          (E)
-          (G)
-          make -j3
-          sudo make install
-          cd
-You should have test_cartesiankontroller in your bin directory if everything went correctly.
-[[File:Img14.PNG]]
-And finally, just type:
-          yarp server
-test_cartesiankontroller tries to connect to a remote_controlboard. If you already have compiled
-Ravebot, you can launch from another terminal:
-          $YARPMODS_DIR/bin/test_ravebot
-And then, from another terminal, launch:
-          $YARPMODS_DIR/bin/test_cartesiankontroller
-It opens a YARP RPC port which you can connect to by using, from another terminal:
-          yarp rpc /cartesiankontroller/ravebot/rpc:i
-After all these steps you’ll be able to start using Openrave.

Difference between revisions of "User:Moises"

Latest revision as of 01:01, 27 September 2011

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