Difference between revisions of "User talk:Moises"
(OpenRave - Installation Guide) |
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[[File:Img2.PNG]] | [[File:Img2.PNG]] | ||
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svn co https://roboticslab.svn.sourceforge.net/svnroot/roboticslab/yarpmods | svn co https://roboticslab.svn.sourceforge.net/svnroot/roboticslab/yarpmods | ||
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[[File:Img3.PNG]] | [[File:Img3.PNG]] | ||
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Next step is installing basic yarp dependencies: | Next step is installing basic yarp dependencies: | ||
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sudo apt-get install cmake libace-dev subversion | sudo apt-get install cmake libace-dev subversion | ||
svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2 | svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2 | ||
sudo apt-get install build-essential cmake-curses-gui | sudo apt-get install build-essential cmake-curses-gui | ||
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Next sentence allows us setting the YARP_DIR environment variable to yarp2/build through ~/.profile (persistent throughout entire session): | Next sentence allows us setting the YARP_DIR environment variable to yarp2/build through ~/.profile (persistent throughout entire session): | ||
− | echo "export YARP_DIR=$PWD/yarp2/build" >> ~/.profile | + | echo "export YARP_DIR=$PWD/yarp2/build" >> ~/.profile |
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[[File:Img4.PNG]] | [[File:Img4.PNG]] | ||
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cd yarp2 | cd yarp2 | ||
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cmake .. | cmake .. | ||
make -j3 | make -j3 | ||
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[[File:Img5.PNG]] | [[File:Img5.PNG]] | ||
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sudo make install | sudo make install | ||
cd ../.. | cd ../.. | ||
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YARPMODS_DIR environment variable setting to yarpmods/build: | YARPMODS_DIR environment variable setting to yarpmods/build: | ||
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echo "export YARPMODS_DIR=$PWD/yarpmods/build" >> ~/.profile | echo "export YARPMODS_DIR=$PWD/yarpmods/build" >> ~/.profile | ||
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[[File:Img6.PNG]] | [[File:Img6.PNG]] | ||
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cd yarpmods | cd yarpmods | ||
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make -j3 | make -j3 | ||
cd ../.. | cd ../.. | ||
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Project organization: | Project organization: | ||
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The shared files (models, config files) in build/share. | The shared files (models, config files) in build/share. | ||
The libraries in build/lib. | The libraries in build/lib. | ||
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[[File:Img7.PNG]] | [[File:Img7.PNG]] | ||
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Yarp and yarpmods dependencies are now installed. After this, we must activate each module (printbot, RaveBot, CartesianKontroller). | Yarp and yarpmods dependencies are now installed. After this, we must activate each module (printbot, RaveBot, CartesianKontroller). | ||
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Type at the terminal: | Type at the terminal: | ||
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cd yarpmods | cd yarpmods | ||
cd build | cd build | ||
ccmake .. | ccmake .. | ||
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This will appear on screen: | This will appear on screen: | ||
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CMAKE_BUILD_TYPE | CMAKE_BUILD_TYPE | ||
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enable_YARPMODS_TESTS ON | enable_YARPMODS_TESTS ON | ||
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[[File:Img8.PNG]] | [[File:Img8.PNG]] | ||
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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). | 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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[[File:Img9.PNG]] | [[File:Img9.PNG]] | ||
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[[File:Img10.PNG]] | [[File:Img10.PNG]] | ||
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make -j3 | make -j3 | ||
sudo make install | sudo make install | ||
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We can check test_printbot appears in the yarpmods/build/bin directory: | We can check test_printbot appears in the yarpmods/build/bin directory: | ||
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Installing basic dependencies: | Installing basic dependencies: | ||
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sudo apt-get install libqt4-dev qt4-dev-tools libxml2-dev libode-dev libsoqt4-dev libcoin60-dev libboost-all-dev | sudo apt-get install libqt4-dev qt4-dev-tools libxml2-dev libode-dev libsoqt4-dev libcoin60-dev libboost-all-dev | ||
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svn co https://openrave.svn.sourceforge.net/svnroot/openrave/trunk openrave | 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) | sudo cp openrave/src/cppexamples/FindOpenRAVE.cmake /usr/share/cmake-X.X/Modules (X.X is your cmake version) | ||
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Install more dependencies required: | Install more dependencies required: | ||
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sudo apt-get install libavformat-dev libswscale-dev zlib-bin bzip2 python-numpy octave3.2-headers libpcrecpp0 | sudo apt-get install libavformat-dev libswscale-dev zlib-bin bzip2 python-numpy octave3.2-headers libpcrecpp0 | ||
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Finally compile with: | Finally compile with: | ||
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cd openrave | cd openrave | ||
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You should have test_ravebot in your bin directory if everything went correctly. | You should have test_ravebot in your bin directory if everything went correctly. | ||
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[[File:Img11.PNG]] | [[File:Img11.PNG]] | ||
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Now, we must enable RaveBot module as usual with: | Now, we must enable RaveBot module as usual with: | ||
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cd yarpmods | cd yarpmods | ||
cd build | cd build | ||
ccmake .. | ccmake .. | ||
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Set ENABLE_rlYarpmods_ravebot ON as seen with printbot module and press (C) (E) (C) (E) (G). | Set ENABLE_rlYarpmods_ravebot ON as seen with printbot module and press (C) (E) (C) (E) (G). | ||
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[[File:Img12.PNG]] | [[File:Img12.PNG]] | ||
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make -j3 | make -j3 | ||
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cd | cd | ||
export PATH=$PATH:/openrave/build | export PATH=$PATH:/openrave/build | ||
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CartesianKontroller: | CartesianKontroller: | ||
Eigen and KDL libraries must be downloaded | Eigen and KDL libraries must be downloaded | ||
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svn checkout http://svn.mech.kuleuven.be/repos/orocos/trunk/kdl | svn checkout http://svn.mech.kuleuven.be/repos/orocos/trunk/kdl | ||
cd kdl | cd kdl | ||
mkdir build | mkdir build | ||
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Install libeigen2.dev from Synaptic (System – Administration – Synaptic Package Manager): | Install libeigen2.dev from Synaptic (System – Administration – Synaptic Package Manager): | ||
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[[File:Img13.PNG]] | [[File:Img13.PNG]] | ||
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cmake .. | cmake .. | ||
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sudo cp kdl/config/FindEigen2.cmake /usr/share/cmake-2.8/Modules | 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 | sudo cp kdl/build/orocos-kdl-config.cmake kdl/config/FindEigen2.cmake /usr/share/cmake-2.8/Modules | ||
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Environment variable setting: | Environment variable setting: | ||
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echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib" >> ~/.profile | echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib" >> ~/.profile | ||
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Compiling and enabling the module: | Compiling and enabling the module: | ||
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cd yarpmods | cd yarpmods | ||
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sudo make install | sudo make install | ||
cd | cd | ||
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You should have test_cartesiankontroller in your bin directory if everything went correctly. | You should have test_cartesiankontroller in your bin directory if everything went correctly. | ||
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[[File:Img14.PNG]] | [[File:Img14.PNG]] | ||
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And finally, just type: | And finally, just type: | ||
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yarp server | yarp server | ||
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test_cartesiankontroller tries to connect to a remote_controlboard. If you already have compiled | test_cartesiankontroller tries to connect to a remote_controlboard. If you already have compiled | ||
Ravebot, you can launch from another terminal: | Ravebot, you can launch from another terminal: | ||
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$YARPMODS_DIR/bin/test_ravebot | $YARPMODS_DIR/bin/test_ravebot | ||
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And then, from another terminal, launch: | And then, from another terminal, launch: | ||
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$YARPMODS_DIR/bin/test_cartesiankontroller | $YARPMODS_DIR/bin/test_cartesiankontroller | ||
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It opens a YARP RPC port which you can connect to by using, from another terminal: | It opens a YARP RPC port which you can connect to by using, from another terminal: | ||
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yarp rpc /cartesiankontroller/ravebot/rpc:i | yarp rpc /cartesiankontroller/ravebot/rpc:i | ||
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After all these steps you’ll be able to start using Openrave. | After all these steps you’ll be able to start using Openrave. |
Revision as of 15:47, 27 September 2011
This guide tries to help new OpenRave users installing and running the software.
First of all, for downloading yarpmods repository, just type:
sudo apt-get install subversion
svn co https://roboticslab.svn.sourceforge.net/svnroot/roboticslab/yarpmods
Next step is installing basic yarp dependencies:
sudo apt-get install cmake libace-dev subversion svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2 sudo apt-get install build-essential cmake-curses-gui
Next sentence allows us setting the YARP_DIR environment variable to yarp2/build through ~/.profile (persistent throughout entire session):
echo "export YARP_DIR=$PWD/yarp2/build" >> ~/.profile
cd yarp2 mkdir build cd build cmake .. make -j3
sudo make install cd ../..
YARPMODS_DIR environment variable setting to yarpmods/build:
echo "export YARPMODS_DIR=$PWD/yarpmods/build" >> ~/.profile
cd yarpmods mkdir build cd build cmake .. make -j3 cd ../..
Project organization:
The executables in build/bin (empty until module activation). The shared files (models, config files) in build/share. The libraries in build/lib.
Yarp and yarpmods dependencies are now installed. After this, we must activate each module (printbot, RaveBot, CartesianKontroller).
printbot
Type at the terminal:
cd yarpmods cd build ccmake ..
This will appear on screen:
CMAKE_BUILD_TYPE CMAKE_INSTALL_PREFIX /usr/local ENABLE_rlYarpmods_cartesiankon OFF ENABLE_rlYarpmods_printbot OFF ENABLE_rlYarpmods_ravebot OFF ENABLE_rlYarpmods_robotcontrol OFF YARP_AUTO_LINK OFF YARP_DIR /usr/local/lib/YARP-2.3.3 enable_YARPMODS_TESTS ON
We must select ENABLE_rlYarpmods_printbot, press enter and then press (C), (E), (C), (E), (G) (configure and exit alternatively until the option generate appears).
make -j3 sudo make install
We can check test_printbot appears in the yarpmods/build/bin directory:
RaveBot:
Installing basic dependencies:
sudo apt-get install libqt4-dev qt4-dev-tools libxml2-dev libode-dev libsoqt4-dev libcoin60-dev libboost-all-dev sudo apt-get install subversion svn co https://openrave.svn.sourceforge.net/svnroot/openrave/trunk openrave sudo cp openrave/src/cppexamples/FindOpenRAVE.cmake /usr/share/cmake-X.X/Modules (X.X is your cmake version)
Install more dependencies required:
sudo apt-get install libavformat-dev libswscale-dev zlib-bin bzip2 python-numpy octave3.2-headers libpcrecpp0
Finally compile with:
cd openrave mkdir build cd build cmake .. make -j3 sudo make install
You should have test_ravebot in your bin directory if everything went correctly.
Now, we must enable RaveBot module as usual with:
cd yarpmods
cd build ccmake ..
Set ENABLE_rlYarpmods_ravebot ON as seen with printbot module and press (C) (E) (C) (E) (G).
make -j3 sudo make install cd export PATH=$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):
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.
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.