To compile this package, it is recommended to create a separate build
directory:
mkdir _build
cd _build
cmake [OPTIONS] ..
make install
Please note that CMake produces a `CMakeCache.txt` file which should
be deleted to reconfigure a package from scratch.
### Dependencies
The present software depends on several packages which
have to be available on your machine.
- Libraries:
- omniORB4 (version >= 4.1.4)
- openscenegraph (version >= 3.2)
- eigen3 (version >= 3.0.5) (only for C++ client)
- urdfdom (version >= 0.3.0)
- SceneViewer (Graphical Interface of Pinocchio and HPP)
- System tools:
- CMake (>=2.6)
- pkg-config
- usual compilation tools (GCC/G++, make, etc.)
### Install standalone urdfdom
In order to read urdf files (see http://wiki.ros.org/urdf for the description), one haves to install the urdfdom package which can come either along ROS library or be installed as a standalone library. Next section describes the second procedure.
urdfdom depends on both console_bridge and urdfdom_headers. The installation of both dependencies can be done with the following command lines in a terminal :
- git clone git://github.com/ros/console_bridge.git && cd console_bridge && mkdir build && cd build && cmake .. && make && sudo make install
- git clone git://github.com/ros/urdfdom_headers && cd urdfdom_headers && mkdir build && cd build && cmake .. && make && sudo make install
Finally, you just need to apply the following command line to install urdfdom library :
- git clone git://github.com/ros/urdfdom && cd urdfdom && mkdir build && cd build && cmake .. && make && sudo make install
