Drv rave Ubuntu Install

The following is a guide for compilation on a fresh Ubuntu 10.04 (as of 15/05/2010, what you get from a sudo aptitude safe-upgrade). Most installs are from source and correct version is assured following the Modules - Dependency Version specification (compatibility!). Source tarballs can also be found at http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/v02/tars (permanent links!).

Always insert password and answer YES when required! First install some basic utilities:

sudo apt-get install build-essential cmake cmake-curses-gui subversion

Then install ACE 5.7.1.0 (ACE is needed for YARP):

wget http://download.dre.vanderbilt.edu/previous_versions/ACE-5.7.1.tar.gz
tar -zxvf ACE-5.7.1.tar.gz
cd ACE_wrappers; mkdir build; cd build
../configure --disable-ssl --disable-ace-examples
make
sudo make install
cd ../..

Then install YARP 2.2.6 (YARP is needed for drv_rave):

wget http://downloads.sourceforge.net/yarp0/yarp-2.2.6.tar.gz
tar -zxvf yarp-2.2.6.tar.gz
cd yarp-2.2.6; mkdir build; cd build
cmake ..
make
sudo make install
cd ../..

Then install Boost 1.39 (BOOST is needed for OpenRave):

wget http://downloads.sourceforge.net/project/boost/boost/1.39.0/boost_1_39_0.tar.gz
tar -zxvf boost_1_39_0.tar.gz
cd boost_1_39_0
./bootstrap.sh
./bjam
sudo ./bjam install
cd ..

Then install Openrave R1457 (OpenRave is needed for drv_rave)(note: no physics):

sudo apt-get install libqt4-dev qt4-dev-tools libxml2-dev
sudo apt-get install libsoqt4-dev libcoin60-dev 
svn co -r 1457 https://openrave.svn.sourceforge.net/svnroot/openrave/trunk openrave
cd openrave; mkdir build; cd build
cmake ..
make
sudo make install
cd ../..

And finally compile the actual module:

svn co http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_rave
cd drv_rave/mk; mkdir build; cd build
cmake ..
make
cd ../../..

To run:

export LD_LIBRARY_PATH=/usr/local/lib
cd drv_rave/out/linux-x86
./drv_rave