IKFAST安装过程

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最新推荐文章于 2024-05-27 19:21:20 发布

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文章标签： ubuntu

本文链接：https://blog.youkuaiyun.com/cmh1056291129/article/details/120319120

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这篇博客详细记录了在Ubuntu16.04系统上安装OpenRAVE的过程，包括安装依赖库、OpenSceneGraph、FCL、OpenRAVE等，并提供了关键命令和注意事项，如安装特定版本的库和添加环境变量。对于机器人操作系统（ROS）和机器人开发的用户来说，这是一个重要的参考指南。

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系统：Ubuntu16.04 ROS kinetic

1.安装依赖

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

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 liblog4cxx-dev libmpfr-dev libode-dev libogg-dev libpcrecpp0v5 libpcre3-dev libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev

2.安装collada-dom

git clone https://github.com/rdiankov/collada-dom.git
cd collada-dom && mkdir build && cd build
cmake ..
make -j4
sudo make install

3.安装OpenSceneGraph

sudo apt-get install libcairo2-dev libjasper-dev libpoppler-glib-dev libsdl2-dev libtiff5-dev libxrandr-dev

git clone --branch OpenSceneGraph-3.4 https://github.com/openscenegraph/OpenSceneGraph.git
cd OpenSceneGraph && mkdir build && cd build
cmake ..
make -j4
sudo make install

4.安装FCL

sudo apt-get install libccd-dev

git clone https://github.com/flexible-collision-library/fcl.git
cd fcl
git checkout 0.5.0  # use FCL 0.5.0
mkdir build && cd build
cmake ..
make -j4
sudo make install

5.安装和删除部分库

pip install --upgrade --user sympy==0.7.1

sudo apt remove python-mpmath

6.安装OpenRAVE

git clone --branch latest_stable https://github.com/rdiankov/openrave.git

git checkout 9c79ea260e1c009b0a6f7c03ec34f59629ccbe2c //或者 git reset --hard 9350ebc

cmake ..
make -j4
sudo make install

7.添加路径

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$(openrave-config --python-dir)/openravepy/_openravepy_

export PYTHONPATH=$PYTHONPATH:$(openrave-config --python-dir)
//(可能会与anaconda的冲突，可以在bashrc中先把anaconda的给屏蔽掉)

参考：

Installing OpenRAVE on Ubuntu 16.04 - Stéphane Caron (scaron.info)

MoveIt Tutorials — moveit_tutorials Kinetic documentation (ros.org)

Robotics Workstation Setup in Ubuntu 16.04 (Xenial) – Francisco Suárez-Ruiz (fsuarez6.github.io)