instructions.md 4.36 KB
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## Binary installation on ubuntu-18.04 64 bit with ros-melodic
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To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the following steps:
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  1. install ROS-melodic: follow steps 1.1 to 1.3 of [the ROS installation website.](http://wiki.ros.org/melodic/Installation/Ubuntu).
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  2. install robotpkg: follow [the robotpkg installation website](http://robotpkg.openrobots.org/debian.html).

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  3. install HPP:

    ```bash
    #pyver=27
    pyver=36
    sudo apt-get install robotpkg-py${pyver}-hpp-manipulation-corba robotpkg-py${pyver}-qt5-hpp-gepetto-viewer
    ```
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  4. install (optionnal) extra packages for demonstrations:
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    - Tutorials (binary release of the tutorial is only available for Python 2.7):

      ```bash
      sudo apt-get install robotpkg-py27-hpp-tutorial
      ```

    - GUI:

      ```bash
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      sudo apt-get install robotpkg-py${pyver}-qt5-hpp-gui robotpkg-py${pyver}-qt5-hpp-plot
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      ```

    - Some robot descriptions:

      ```bash
      sudo apt-get install ros-melodic-pr2-description robotpkg-py${pyver}-hpp-environments robotpkg-romeo-description
      ```

  5. setup your environment variables by adding the following lines (fix Python version if necessary) to your `.bashrc`:
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    ```bash
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    source /opt/ros/melodic/setup.bash
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    export PATH=/opt/openrobots/bin${!PATH:-:}${PATH}
    export LD_LIBRARY_PATH=/opt/openrobots/lib${!LD_LIBRARY_PATH:-:}${LD_LIBRARY_PATH}
    export PYTHONPATH=/opt/openrobots/lib/python2.7/site-packages${!PYTHONPATH:-:}${PYTHONPATH}
    export ROS_PACKAGE_PATH=/opt/openrobots/share${!ROS_PACKAGE_PATH:-:}${ROS_PACKAGE_PATH}
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    export CMAKE_PREFIX_PATH=/opt/openrobots${!CMAKE_PREFIX_PATH:-:}${CMAKE_PREFIX_PATH}
    export PKG_CONFIG_PATH=/opt/openrobots${!PKG_CONFIG_PATH:-:}${PKG_CONFIG_PATH}
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    ```

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  6. open `/opt/openrobots/share/doc/hpp-doc/index.html` in a web brower and you
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  will have access to the documentation of most packages.

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## Source installation on ubuntu-18.04 64 bit with ros-melodic
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To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the following steps:
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  1. install ROS-melodic: follow steps 1.1 to 1.3 of [the ROS installation website.](http://wiki.ros.org/melodic/Installation/Ubuntu).
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  2. install robotpkg: follow [the robotpkg installation website](http://robotpkg.openrobots.org/debian.html).

  3. install by apt-get
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  ```bash
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    sudo apt-get install \
      g++ \
      cmake \
      doxygen \
      libboost-dev \
      liburdfdom-dev \
      libassimp-dev \
      libeigen3-dev \
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      libgraphviz-dev \
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      robotpkg-omniorb \
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      robotpkg-qpoases+doc \
      robotpkg-roboptim-core \
      robotpkg-roboptim-trajectory \
      robotpkg-romeo-description \
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      robotpkg-py36-omniorbpy \
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      ros-melodic-xacro \
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      libccd-dev \
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      ros-melodic-octomap \
      ros-melodic-resource-retriever \
      ros-melodic-srdfdom \
      ros-melodic-pr2-description \
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      git \
      libomniorb4-dev \
      omniorb-nameserver \
      libltdl-dev \
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      python-omniorb \
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      python-matplotlib \
      libxml2 \
      libtinyxml2-dev \
      qt4-dev-tools \
      libqt4-opengl-dev \
      libqtgui4 \
      libqtwebkit-dev \
      oxygen-icon-theme \
      libopenscenegraph-dev \
      openscenegraph \
      libpcre3-dev \
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      wget \
      libcdd-dev
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    ```

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  4. Choose a directory on your file system and define the environment
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     variable `DEVEL_HPP_DIR` with the full path to this directory.
     - the packages will be cloned into `$DEVEL_HPP_DIR/src`,
     - the packages will be installed in `$DEVEL_HPP_DIR/install`.
     It is recommanded to set variable `DEVEL_HPP_DIR` in your `.bashrc` for future use.
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    ```bash
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    mkdir -p $DEVEL_HPP_DIR/src
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    ```
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  5. Copy Config and Makefile
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    ```bash
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    wget -O $DEVEL_HPP_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/master/doc/config/ubuntu-18.04-melodic.sh
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    wget -O $DEVEL_HPP_DIR/src/Makefile https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/master/doc/Makefile
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    ```

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  6. cd into `$DEVEL_HPP_DIR` and type
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    ```bash
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    cd ${DEVEL_HPP_DIR}
    source config.sh
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    ```

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  7. cd into `$DEVEL_HPP_DIR/src` and type
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    ```bash
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    cd ${DEVEL_HPP_DIR}/src
    make iai_maps.install;
    source ../config.sh;
    make all
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    ```

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  8. open `$DEVEL_HPP_DIR/install/share/doc/hpp-doc/index.html` in a web brower and you
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  will have access to the documentation of most packages.