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(Legacy) Install OpenRAVE#

This is Legacy documentation regarding OpenRAVE installations. Updated OpenRAVE installation at: Install OpenRAVE

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,
sudo apt install libcollada-dom2.4-dp-dev  # Open .zae files, only Ubuntu 16.04
cd  # go home
mkdir -p repos; cd repos  # create $HOME/repos if it doesn't exist; then, enter it
git clone --branch v0.9.0
cd openrave; mkdir build; cd build
cmake .. -DOPT_VIDEORECORDING=OFF  # Avoids AV errors
make -j$(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 to gcc-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 (

FCL 0.5.0 has been identified as working. Compile and install it via:

mkdir -p repos; cd repos # create $HOME/repos if it doesn't exist; then, enter it
git clone --branch 0.5.0
cd fcl; mkdir build; cd build
cmake ..
make -j$(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.