Difference between revisions of "User talk:Moises"

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(OpenRave - Installation Guide)
 
Line 9: Line 9:
 
[[File:Img2.PNG]]
 
[[File:Img2.PNG]]
  
 +
         
 
           svn co https://roboticslab.svn.sourceforge.net/svnroot/roboticslab/yarpmods
 
           svn co https://roboticslab.svn.sourceforge.net/svnroot/roboticslab/yarpmods
 +
  
 
[[File:Img3.PNG]]
 
[[File:Img3.PNG]]
 +
  
 
Next step is installing basic yarp dependencies:
 
Next step is installing basic yarp dependencies:
 +
  
 
         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
 +
  
 
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
 +
 
  
 
[[File:Img4.PNG]]
 
[[File:Img4.PNG]]
 +
  
 
         cd yarp2
 
         cd yarp2
Line 30: Line 37:
 
         cmake ..
 
         cmake ..
 
         make -j3
 
         make -j3
 +
  
 
[[File:Img5.PNG]]
 
[[File:Img5.PNG]]
 +
  
 
         sudo make install
 
         sudo make install
 
         cd ../..
 
         cd ../..
 +
  
 
YARPMODS_DIR environment variable setting to yarpmods/build:
 
YARPMODS_DIR environment variable setting to yarpmods/build:
 +
  
 
         echo "export YARPMODS_DIR=$PWD/yarpmods/build" >> ~/.profile
 
         echo "export YARPMODS_DIR=$PWD/yarpmods/build" >> ~/.profile
 +
  
 
[[File:Img6.PNG]]
 
[[File:Img6.PNG]]
 +
  
 
         cd yarpmods
 
         cd yarpmods
Line 48: Line 61:
 
         make -j3
 
         make -j3
 
         cd ../..
 
         cd ../..
 +
  
 
Project organization:
 
Project organization:
Line 54: Line 68:
 
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.
 +
  
 
[[File:Img7.PNG]]
 
[[File:Img7.PNG]]
 +
  
 
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).
Line 62: Line 78:
  
 
Type at the terminal:
 
Type at the terminal:
 +
  
 
         cd yarpmods
 
         cd yarpmods
 
         cd build
 
         cd build
 
         ccmake ..
 
         ccmake ..
 +
  
 
This will appear on screen:
 
This will appear on screen:
 +
  
 
           CMAKE_BUILD_TYPE                                                               
 
           CMAKE_BUILD_TYPE                                                               
Line 79: Line 98:
 
           enable_YARPMODS_TESTS            ON
 
           enable_YARPMODS_TESTS            ON
 
 
 +
 
[[File:Img8.PNG]]
 
[[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).
 
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:Img9.PNG]]
 +
  
 
[[File:Img10.PNG]]
 
[[File:Img10.PNG]]
 +
  
 
           make -j3
 
           make -j3
 
           sudo make install
 
           sudo make install
 
 
 +
 
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:
 +
  
 
           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
Line 100: Line 126:
 
           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)
 +
  
 
Install more dependencies required:
 
Install more dependencies required:
 +
  
 
           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
 +
  
 
Finally compile with:
 
Finally compile with:
 +
  
 
           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.
 +
  
 
[[File:Img11.PNG]]
 
[[File:Img11.PNG]]
 +
  
 
Now, we must enable RaveBot module as usual with:
 
Now, we must enable RaveBot module as usual with:
 
 
 +
 
           cd yarpmods
 
           cd yarpmods
 
  cd build
 
  cd build
 
  ccmake ..
 
  ccmake ..
 +
  
 
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).
 +
  
 
[[File:Img12.PNG]]
 
[[File:Img12.PNG]]
 +
  
 
           make -j3
 
           make -j3
Line 133: Line 169:
 
           cd
 
           cd
 
           export PATH=$PATH:/openrave/build
 
           export PATH=$PATH:/openrave/build
 +
  
 
CartesianKontroller:
 
CartesianKontroller:
  
 
Eigen and KDL libraries must be downloaded
 
Eigen and KDL libraries must be downloaded
 +
  
 
           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
 +
  
 
Install libeigen2.dev from Synaptic (System – Administration – Synaptic Package Manager):
 
Install libeigen2.dev from Synaptic (System – Administration – Synaptic Package Manager):
 +
  
 
[[File:Img13.PNG]]
 
[[File:Img13.PNG]]
 +
  
 
           cmake ..
 
           cmake ..
Line 152: Line 193:
 
           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
 +
  
 
Environment variable setting:
 
Environment variable setting:
 +
  
 
           echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib" >> ~/.profile
 
           echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib" >> ~/.profile
 +
  
 
Compiling and enabling the module:
 
Compiling and enabling the module:
 +
  
 
           cd yarpmods
 
           cd yarpmods
Line 168: Line 213:
 
           sudo make install
 
           sudo make install
 
           cd
 
           cd
 +
  
 
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.
 +
  
 
[[File:Img14.PNG]]
 
[[File:Img14.PNG]]
 +
  
 
And finally, just type:  
 
And finally, just type:  
 +
  
 
           yarp server  
 
           yarp server  
 +
  
 
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:  
 +
  
 
           $YARPMODS_DIR/bin/test_ravebot  
 
           $YARPMODS_DIR/bin/test_ravebot  
 +
  
 
And then, from another terminal, launch:  
 
And then, from another terminal, launch:  
 +
  
 
           $YARPMODS_DIR/bin/test_cartesiankontroller  
 
           $YARPMODS_DIR/bin/test_cartesiankontroller  
 +
  
 
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:  
 +
  
 
           yarp rpc /cartesiankontroller/ravebot/rpc:i  
 
           yarp rpc /cartesiankontroller/ravebot/rpc:i  
 +
  
 
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
Error creating thumbnail: Unable to save thumbnail to destination
Error creating thumbnail: Unable to save thumbnail to destination


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


Error creating thumbnail: Unable to save thumbnail to destination


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


Error creating thumbnail: Unable to save thumbnail to destination


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


Error creating thumbnail: Unable to save thumbnail to destination


        sudo make install
        cd ../..


YARPMODS_DIR environment variable setting to yarpmods/build:


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


Error creating thumbnail: Unable to save thumbnail to destination


        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.


Error creating thumbnail: Unable to save thumbnail to destination


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


Error creating thumbnail: Unable to save thumbnail to destination


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).


Error creating thumbnail: Unable to save thumbnail to destination


Error creating thumbnail: Unable to save thumbnail to destination


         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.


Error creating thumbnail: Unable to save thumbnail to destination


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).


Error creating thumbnail: Unable to save thumbnail to destination


         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):


Error creating thumbnail: Unable to save thumbnail to destination


         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.


Error creating thumbnail: Unable to save thumbnail to destination


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.