(Legacy) Install OpenRAVE#
This is Legacy documentation regarding OpenRAVE installations. Updated OpenRAVE installation at: Install OpenRAVE
Install OpenRAVE 0.9.0 (Ubuntu 18.04 Bionic)#
No official PPA, install from source. Install dependencies that must be installed for compilation:
Note that you will be prompted for your password upon using sudo
.
sudo apt install git # probably already installed
sudo apt install libboost-filesystem-dev libboost-system-dev libboost-python-dev libboost-thread-dev libboost-iostreams-dev libboost-numpy-dev
sudo apt install libqt4-dev qt4-dev-tools libxml2-dev libode-dev
sudo apt install libsoqt4-dev libcoin80-dev
sudo apt install rapidjson-dev liblapack-dev
# sudo apt install python-scipy # For openravepy. Note that 16.04 Xenial sympy is 0.7.6, see next line
# pip install --upgrade --user sympy==0.7.1 # OpenRAVE ikfast needs sympy 0.7.1, https://github.com/rdiankov/openrave/pull/407
sudo apt install libcollada-dom2.4-dp-dev # Open .zae files, avoid cmake 3.19 error on 18.04 Bionic
cd # go home
mkdir -p repos; cd repos # create $HOME/repos if it doesn't exist; then, enter it
git clone --branch boost-1.6x-forcompile https://github.com/roboticslab-uc3m/openrave.git # git clone --branch master https://github.com/rdiankov/openrave.git
cd openrave; mkdir build; cd build
cmake .. -DOPT_VIDEORECORDING=OFF # Avoids AV errors
make -j$(nproc)
sudo make install; cd # install and go home
Known Issues (Ubuntu 18.04 Bionic)#
- In case you run into
non-constant-expression cannot be narrowed from type 'double' to 'float' in initializer list [-Wc++11-narrowing]
errors (happened on OpenRAVE 0.15 and a Clang 6.0.0/7.0.0 compiler), reconfigure CMake with the following option:cmake .. -DOPT_IKFAST_FLOAT32=OFF
Install OpenRAVE 0.9.0 (Ubuntu 16.04 Xenial and 14.04 Trusty)#
No official PPA, install from source. Install Dependencies that must be installed for compilation:
Note that you will be prompted for your password upon using sudo
.
sudo apt install git
sudo apt install libboost-filesystem-dev libboost-system-dev libboost-python-dev libboost-thread-dev libboost-iostreams-dev libboost-date-time-dev
sudo apt install libqt4-dev qt4-dev-tools libxml2-dev libode-dev
sudo apt install libsoqt4-dev libcoin80-dev
sudo apt install python-scipy # For openravepy. Note that Xenial sympy is 0.7.6, see next line
pip install --upgrade --user sympy==0.7.1 # OpenRAVE ikfast needs sympy 0.7.1, https://github.com/rdiankov/openrave/pull/407
sudo apt install libcollada-dom2.4-dp-dev # Open .zae files, only Ubuntu 16.04
cd # go home
mkdir -p repos; cd repos # create $HOME/repos if it doesn't exist; then, enter it
git clone --branch v0.9.0 https://github.com/rdiankov/openrave.git
cd openrave; mkdir build; cd build
cmake .. -DOPT_VIDEORECORDING=OFF # Avoids AV errors
make -j$(nproc)
sudo make install; cd # install and go home
Note that you may end up requiring over 2 GB of free space during the installation of apt
dependencies. To avoid that, use the --no-install-recommends
option as in:
sudo apt install --no-install-recommends package
Thus, apt
would not try to install non-critical packages marked as recommended by the dependencies of OpenRAVE.
Known Issues (Ubuntu 16.04 Xenial)#
- OpenRAVE 0.9.0 with
gcc-7
fails to compile. Recommendation: switch back togcc-5 (Ubuntu 5.5.0-12ubuntu1~16.04) 5.5.0 20171010
.
FCL Known Issues (Ubuntu 16.04 Xenial)#
With the Cannonical PPA way, you'll run into:
-- Checking for module 'fcl'
-- Found fcl, version 0.3.2
-- Could not find FCL. Please install FCL (https://github.com/flexible-collision-library/fcl)
FCL 0.5.0
has been identified as working. Compile and install it via:
mkdir -p repos; cd repos # create $HOME/repos if it doesn't exist; then, enter it
git clone --branch 0.5.0 https://github.com/flexible-collision-library/fcl
cd fcl; mkdir build; cd build
cmake ..
make -j$(nproc)
sudo make install; cd # install and go home
Install OpenRAVE (Ubuntu 12.04 Precise)#
To install a precompiled version of OpenRAVE, type:
sudo add-apt-repository ppa:openrave/release
sudo apt-get update
sudo apt-get install openrave
Install OpenRAVE (Windows)#
Long ago, this was easy. Now, installers such as openrave-0.9.0-5cfc74-win32-vc100-setup
are broken (due to broken Boost 1.44 and Qt links, as well as old Visual Studio version), so we have to go old-school.
References: