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
- 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
- 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
- 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
- git clone https://github.com/rdiankov/openrave.git
并编译
- cd openrave
- mkdir build
- cd build
- cmake ..
- make
- sudo make install
编译过程会遇到错误,诸如
- 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
- vim .bashrc
最后一行加入以下路径代码
- source /usr/local/share/openrave-0.9/openrave.bash
3.运行实例
- openrave0.9.py --example hanoi