在Ubuntu14.04上安装OpenRAVE

最新推荐文章于 2024-06-09 10:06:41 发布

一呆飞仙

最新推荐文章于 2024-06-09 10:06:41 发布

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概述

OpenRAVE提供了一个机器人运动规划算法测试开发环境，专注于运动规划相关的运动仿真和分析。并且OpenRAVE的独立特行使他能集成到任何现存的机器人系统中。本文安装OpenRAVE主要是为应用其中的IKFast插件，根据机器人构型生成特定的运动学求解器，在ROS 中用于MoveIt运动规划仿真。

最好安装OpenRAVE的方式是从源码安装，根据官方教程上安装会出现很多错误，因为OpenRAVE在不断更新，官方没精力实时更新。

1. 安装依赖库

首先确保安装了以下项目

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sudo apt-get install cmake g++ git qt4-dev-tools zlib-bin
sudo apt-get install ipython python-dev python-h5py python-numpy python-scipy python-sympy

安装依赖库

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sudo apt-get install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libglew-dev libgsm1-dev liblapack-dev libmpfr-dev libode-dev libogg-dev libopenscenegraph-dev libpcre3-dev libpcrecpp0 libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev

唯一从openrave ppa 上可以安装的包是 collada-dom

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sudo add-apt-repository ppa:openrave/release
sudo sh -c 'echo "deb-src http://ppa.launchpad.net/openrave/release/ubuntu `lsb_release -cs` main" >> /etc/apt/sources.list.d/openrave-release-`lsb_release -cs`.list'
sudo apt-get update
sudo apt-get install collada-dom-dev

2. 从源文件安装

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git clone https://github.com/rdiankov/openrave.git

并编译

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cd openrave
mkdir build
cd build
cmake ..
make
sudo make install

编译过程会遇到错误，诸如

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openrave/plugins/bulletrave/bulletcollision.h: In member function ‘bool BulletCollisionChecker::CheckCollisionP(btOverlapFilterCallback, OpenRAVE::CollisionReportPtr)’:
openrave/plugins/bulletrave/bulletcollision.h:335:25: error: ‘class OpenRAVE::CollisionReport’ has no member named ‘numCols’

只需要到openrave/plugin/cmakefile 文件中将 bulletrave 注释掉，我这里还注释掉了fclrave

将openrave 的bash文件加到添加到系统环境

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