User:Moises

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

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         svn co https://roboticslab.svn.sourceforge.net/svnroot/roboticslab/yarpmods

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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

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        cd yarp2
        mkdir build
        cd build
        cmake ..
        make -j3

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        sudo make install
        cd ../..

YARPMODS_DIR environment variable setting to yarpmods/build:

        echo "export YARPMODS_DIR=$PWD/yarpmods/build" >> ~/.profile

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        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.

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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

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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).

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         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.

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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).

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         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):

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         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.

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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.