Commit 3f9b2313 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

[instructions] Add instructions to compile in Ubuntu-20.04.

parent 92377b77
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in 3 minutes and 33 seconds
export INSTALL_HPP_DIR=$DEVEL_HPP_DIR/install
export ROBOTPKG=/opt/openrobots
export ROS=/opt/ros/noetic
export PATH=$INSTALL_HPP_DIR/sbin:$INSTALL_HPP_DIR/bin:$ROBOTPKG/bin:$ROBOTPKG/sbin:$ROS/bin:$PATH
export PKG_CONFIG_PATH=$INSTALL_HPP_DIR/lib/pkgconfig/:$ROBOTPKG/lib/pkgconfig:$ROS/lib/pkgconfig
export PYTHONPATH=$INSTALL_HPP_DIR/lib/python3/dist-packages:$ROBOTPKG/lib/python3.8/site-packages:$ROS/lib/python3/dist-packages:$PYTHONPATH
export LD_LIBRARY_PATH=$INSTALL_HPP_DIR/lib:$ROBOTPKG/lib:$INSTALL_HPP_DIR/lib64:$ROS/lib:$LD_LIBRARY_PATH
# Make sure that /opt/ros/noetic is in the ROS_PACKAGE_PATH,
# otherwise, you should add it by hand in the line below.
export ROS_PACKAGE_PATH=$INSTALL_HPP_DIR/share:$ROBOTPKG/share:$ROS/share
export CMAKE_PREFIX_PATH=$INSTALL_HPP_DIR:$ROBOTPKG:$ROS:/usr
if [ -f "${INSTALL_HPP_DIR}/etc/hpp-tools/bashrc" ]; then
source "${INSTALL_HPP_DIR}/etc/hpp-tools/bashrc"
fi
## Binary installation on ubuntu-18.04 64 bit with ros-melodic
## Source installation on ubuntu-18.04 64 bit with ros-melodic
To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the following steps:
......@@ -6,56 +6,85 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
2. install robotpkg: follow [the robotpkg installation website](http://robotpkg.openrobots.org/debian.html).
3. install HPP:
```bash
#pyver=27
pyver=36
sudo apt-get install robotpkg-py${pyver}-hpp-manipulation-corba robotpkg-py${pyver}-qt5-hpp-gepetto-viewer
3. install by apt-get
```bash
sudo apt-get install \
g++ \
cmake \
doxygen \
libboost-dev \
liburdfdom-dev \
libassimp-dev \
libeigen3-dev \
libgraphviz-dev \
robotpkg-omniorb \
robotpkg-qpoases+doc \
robotpkg-romeo-description \
robotpkg-py36-omniorbpy \
ros-melodic-xacro \
libccd-dev \
ros-melodic-octomap \
ros-melodic-resource-retriever \
ros-melodic-srdfdom \
ros-melodic-pr2-description \
git \
libltdl-dev \
python-omniorb \
python-matplotlib \
python3-catkin \
libxml2 \
libtinyxml2-dev \
qt4-dev-tools \
libqt4-opengl-dev \
libqtgui4 \
libqtwebkit-dev \
oxygen-icon-theme \
robotpkg-openscenegraph \
libpcre3-dev \
wget \
libcdd-dev
```
4. install (optionnal) extra packages for demonstrations:
- Tutorials (binary release of the tutorial is only available for Python 2.7):
```bash
sudo apt-get install robotpkg-py27-hpp-tutorial
```
- GUI:
```bash
sudo apt-get install robotpkg-py${pyver}-qt5-hpp-gui robotpkg-py${pyver}-qt5-hpp-plot
```
4. Choose a directory on your file system and define the environment
variable `DEVEL_HPP_DIR` with the full path to this directory.
- the packages will be cloned into `$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.
- Some robot descriptions:
```bash
mkdir -p $DEVEL_HPP_DIR/src
```
5. Copy Config and Makefile
```bash
sudo apt-get install ros-melodic-pr2-description robotpkg-py${pyver}-hpp-environments robotpkg-romeo-description
```
```bash
wget -O $DEVEL_HPP_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/stable/doc/config/ubuntu-18.04-melodic.sh
wget -O $DEVEL_HPP_DIR/src/Makefile https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/stable/makefiles/devel.mk
```
5. setup your environment variables by adding the following lines (fix Python version if necessary) to your `.bashrc`:
6. cd into `$DEVEL_HPP_DIR` and type
```bash
source /opt/ros/melodic/setup.bash
cd ${DEVEL_HPP_DIR}
source config.sh
```
export PATH=/opt/openrobots/bin${!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:-:}${ROS_PACKAGE_PATH}
7. cd into `$DEVEL_HPP_DIR/src` and type
export CMAKE_PREFIX_PATH=/opt/openrobots${!CMAKE_PREFIX_PATH:-:}${CMAKE_PREFIX_PATH}
export PKG_CONFIG_PATH=/opt/openrobots${!PKG_CONFIG_PATH:-:}${PKG_CONFIG_PATH}
```bash
cd ${DEVEL_HPP_DIR}/src
make iai_maps.install;
source ../config.sh;
make all
```
6. open `/opt/openrobots/share/doc/hpp-doc/index.html` in a web brower and you
8. open `$DEVEL_HPP_DIR/install/share/doc/hpp-doc/index.html` in a web brower and you
will have access to the documentation of most packages.
## Source installation on ubuntu-18.04 64 bit with ros-melodic
## Source installation on ubuntu-20.04 64 bit with ros-noetic
To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the following steps:
To install all the packages on ubuntu 20.04 LTS 64 bit, you should do the following steps:
1. install ROS-melodic: follow steps 1.1 to 1.3 of [the ROS installation website.](http://wiki.ros.org/melodic/Installation/Ubuntu).
1. install ROS-noetic: follow steps 1.1 to 1.3 of [the ROS installation website.](http://wiki.ros.org/noetic/Installation/Ubuntu).
2. install robotpkg: follow [the robotpkg installation website](http://robotpkg.openrobots.org/debian.html).
......@@ -70,26 +99,27 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
libassimp-dev \
libeigen3-dev \
libgraphviz-dev \
graphviz \
robotpkg-omniorb \
robotpkg-qpoases+doc \
robotpkg-romeo-description \
robotpkg-py36-omniorbpy \
ros-melodic-xacro \
robotpkg-py38-omniorbpy \
ros-noetic-xacro \
libccd-dev \
ros-melodic-octomap \
ros-melodic-resource-retriever \
ros-melodic-srdfdom \
ros-melodic-pr2-description \
ros-noetic-octomap \
ros-noetic-resource-retriever \
ros-noetic-srdfdom \
ros-noetic-pr2-description \
git \
libltdl-dev \
python-omniorb \
python-matplotlib \
python3-matplotlib \
qtbase5-private-dev \
qtdeclarative5-dev \
qtmultimedia5-dev \
libqt5svg5-dev \
libxml2 \
libtinyxml2-dev \
qt4-dev-tools \
libqt4-opengl-dev \
libqtgui4 \
libqtwebkit-dev \
oxygen-icon-theme \
robotpkg-openscenegraph \
libpcre3-dev \
......@@ -109,7 +139,7 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
5. Copy Config and Makefile
```bash
wget -O $DEVEL_HPP_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/stable/doc/config/ubuntu-18.04-melodic.sh
wget -O $DEVEL_HPP_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/stable/doc/config/ubuntu-20.04-noetic.sh
wget -O $DEVEL_HPP_DIR/src/Makefile https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/stable/makefiles/devel.mk
```
......
......@@ -32,6 +32,19 @@ case $HOST_DIST in
APT_BUILD_DEP=""
CONFIG_FILE="ubuntu-18.04-melodic.sh"
;;
focal)
APT_DEP="g++ cmake doxygen libboost-dev liburdfdom-dev libassimp-dev \
libeigen3-dev libgraphviz-dev graphviz robotpkg-omniorb \
robotpkg-qpoases+doc robotpkg-romeo-description robotpkg-py38-omniorbpy \
ros-noetic-xacro libccd-dev ros-noetic-octomap \
ros-noetic-resource-retriever ros-noetic-srdfdom \
ros-noetic-pr2-description git libltdl-dev python-omniorb \
python3-matplotlib qtbase5-private-dev qtdeclarative5-dev
qtmultimedia5-dev libqt5svg5-dev libxml2 libtinyxml2-dev
oxygen-icon-theme robotpkg-openscenegraph libpcre3-dev wget libcdd-dev"
APT_BUILD_DEP=""
CONFIG_FILE="ubuntu-20.04-noetic.sh"
;;
*)
echo "Unknow host distribution."
exit 1
......
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