From f11f466bfd3fa1f8d84c759c22d98f4d8d0a6198 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bartek=20=C5=81ukawski?= Date: Tue, 30 Jul 2024 14:43:02 +0200 Subject: [PATCH] Update install-openrave.md --- docs/install-openrave.md | 88 ++++++++++++++++++++-------------------- 1 file changed, 44 insertions(+), 44 deletions(-) diff --git a/docs/install-openrave.md b/docs/install-openrave.md index 4046b2b..eec5318 100644 --- a/docs/install-openrave.md +++ b/docs/install-openrave.md @@ -7,45 +7,9 @@ We use the OpenRAVE core library for simulations. Official links: Legacy documentation regarding OpenRAVE installations can be found at: [(Legacy) Install OpenRAVE](legacy/legacy-install-openrave.md) -## Install OpenRAVE via scripts (Ubuntu 18.04 Bionic and Ubuntu 20.04 Focal) - -Tested and works on fresh installs. Easy, but not guaranteed to work, nor to be the fastest mechanism (e.g. fcl not mandatory, and osg could alternatively be installed via `apt` in 20.04 Focal). Provides: - -- Ubuntu 20.04 Focal: OpenRAVE 0.54.0 with Python 2 bindings, FCL, and OpenSceneGraph viewer. -- Ubuntu 18.04 Bionic: OpenRAVE 0.9.0 with Python 2 bindings, FCL, and Qtcoin viewer. +## Install OpenRAVE 0.136.1 (Ubuntu 20.04 Focal and newer) -```bash -sudo apt install git lsb-release # probably already installed -``` - -On a fresh 20.04 Focal had to configure git email and user, even dummy okay: - -```bash -git config --global user.name "FIRST_NAME LAST_NAME" -git config --global user.email "MY_NAME@example.com" -``` - -Always pay attention to prompts for `sudo` (and insert password): - -```bash -cd # go home -git clone https://github.com/crigroup/openrave-installation -cd openrave-installation -./install-dependencies.sh -./install-osg.sh -./install-fcl.sh -./install-openrave.sh -``` - -### Troubleshooting OpenRAVE via scripts (Ubuntu 18.04 Bionic and Ubuntu 20.04 Focal) - -Also on 20.04 Focal had to run the [`pip install ipython h5py numpy scipy wheel`](https://github.com/crigroup/openrave-installation/blob/b2766bd789e2432c4485dff189e75cf328f243ec/install-dependencies.sh#L44) line manually, and `rm -rf ~/openrave` to run `./install-openrave.sh` again. - -Moreover, if Ubuntu installation not fresh, beware of Python 2 vs 3 issues. Troubleshooting, make sure `python --version` gives you Python 2, else `update-alternatives` is your friend. Finally, in line with this, make sure you have the Python 2 development headers, which should be at `/usr/include/python2.7`. - -## Install OpenRAVE 0.54.0 (Ubuntu 20.04 Focal) - -No official PPA, install from source. Install Dependencies that must be installed for compilation: +No official PPA, install from source. Install dependencies that must be installed for compilation: - [Install CMake](install-cmake.md) - [Install RapidJSON](install-rapidjson.md) @@ -54,23 +18,23 @@ Note that you will be prompted for your password upon using `sudo`. ```bash 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 libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-iostreams-dev sudo apt install libxml2-dev libode-dev sudo apt install liblapack-dev -sudo apt install libcollada-dom2.4-dp-dev -sudo apt install libopenscenegraph-dev # OSG 3.6.4 ok with OR 4c43d49895934b61cc286a6b41a10d3661fde465 +sudo apt install libcollada-dom-dev +sudo apt install libsoqt520-dev libcoin-dev cd # go home mkdir -p repos; cd repos # create $HOME/repos if it doesn't exist; then, enter it git clone --branch master https://github.com/rdiankov/openrave.git cd openrave; mkdir build; cd build -cmake .. -DOPT_VIDEORECORDING=OFF -DOPT_PYTHON=OFF +cmake .. -DOPT_VIDEORECORDING=OFF -DOPT_PYTHON=OFF -DOPT_PYTHON3=OFF -DOPT_MSGPACK=OFF -DOPT_ENCRYPTION=OFF make -j$(nproc) sudo make install; cd # install and go home ``` ## Install OpenRAVE 0.54.0 (Ubuntu 18.04 Bionic) -No official PPA, install from source. Install Dependencies that must be installed for compilation: +No official PPA, install from source. Install dependencies that must be installed for compilation: - [Install CMake](install-cmake.md) - [Install RapidJSON](install-rapidjson.md) @@ -95,7 +59,7 @@ sudo make install; cd # install and go home ## Install OpenRAVE 0.9.0 (Ubuntu 18.04 Bionic) -No official PPA, install from source. Install Dependencies that must be installed for compilation: +No official PPA, install from source. Install dependencies that must be installed for compilation: - [Install CMake](install-cmake.md) @@ -123,6 +87,42 @@ sudo make install; cd # install and go home - 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 via scripts (Ubuntu 18.04 Bionic and Ubuntu 20.04 Focal) + +Tested and works on fresh installs. Easy, but not guaranteed to work, nor to be the fastest mechanism (e.g. fcl not mandatory, and osg could alternatively be installed via `apt` in 20.04 Focal). Provides: + +- Ubuntu 20.04 Focal: OpenRAVE 0.54.0 with Python 2 bindings, FCL, and OpenSceneGraph viewer. +- Ubuntu 18.04 Bionic: OpenRAVE 0.9.0 with Python 2 bindings, FCL, and Qtcoin viewer. + +```bash +sudo apt install git lsb-release # probably already installed +``` + +On a fresh 20.04 Focal had to configure git email and user, even dummy okay: + +```bash +git config --global user.name "FIRST_NAME LAST_NAME" +git config --global user.email "MY_NAME@example.com" +``` + +Always pay attention to prompts for `sudo` (and insert password): + +```bash +cd # go home +git clone https://github.com/crigroup/openrave-installation +cd openrave-installation +./install-dependencies.sh +./install-osg.sh +./install-fcl.sh +./install-openrave.sh +``` + +### Troubleshooting OpenRAVE via scripts (Ubuntu 18.04 Bionic and Ubuntu 20.04 Focal) + +Also on 20.04 Focal had to run the [`pip install ipython h5py numpy scipy wheel`](https://github.com/crigroup/openrave-installation/blob/b2766bd789e2432c4485dff189e75cf328f243ec/install-dependencies.sh#L44) line manually, and `rm -rf ~/openrave` to run `./install-openrave.sh` again. + +Moreover, if Ubuntu installation not fresh, beware of Python 2 vs 3 issues. Troubleshooting, make sure `python --version` gives you Python 2, else `update-alternatives` is your friend. Finally, in line with this, make sure you have the Python 2 development headers, which should be at `/usr/include/python2.7`. + ## Extra Tips 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: