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Humanoid Path Planner
hpp-doc
Commits
452b6bb9
Commit
452b6bb9
authored
Nov 18, 2020
by
Guilhem Saurel
Browse files
Merge branch 'future'
parents
c3c94ee7
5b7523d5
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2
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instructions/devel-sources.md
View file @
452b6bb9
## Binary 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:
1.
install ROS-melodic: follow steps 1.1 to 1.3 of
[
the ROS installation website.
](
http://wiki.ros.org/melodic/Installation/Ubuntu
)
.
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
```
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
```
- Some robot descriptions:
```bash
sudo apt-get install ros-melodic-pr2-description robotpkg-py${pyver}-hpp-environments robotpkg-romeo-description
```
5.
setup your environment variables by adding the following lines (fix Python version if necessary) to your
`.bashrc`
:
```bash
source /opt/ros/melodic/setup.bash
export PATH=/opt/openrobots/bin${!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:-:}${ROS_PACKAGE_PATH}
export CMAKE_PREFIX_PATH=/opt/openrobots${!CMAKE_PREFIX_PATH:-:}${CMAKE_PREFIX_PATH}
export PKG_CONFIG_PATH=/opt/openrobots${!PKG_CONFIG_PATH:-:}${PKG_CONFIG_PATH}
```
6.
open
`/opt/openrobots/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
To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the following steps:
...
...
makefiles/stable.mk
View file @
452b6bb9
...
...
@@ -42,11 +42,11 @@ INSTALL_DOCUMENTATION=ON
##################################
# {{{ Dependencies
pinocchio_branch
=
v2.
4.5
pinocchio_branch
=
v2.
5.3
pinocchio_repository
=
${SOT_REPO}
pinocchio_extra_flags
=
-DBUILD_PYTHON_INTERFACE
=
OFF
-DBUILD_UNIT_TESTS
=
OFF
-DBUILD_WITH_COLLISION_SUPPORT
=
ON
hpp-template-corba_branch
=
v4.
9
.0
hpp-template-corba_branch
=
v4.
10
.0
hpp-template-corba_repository
=
${HPP_REPO}
# }}}
...
...
@@ -56,48 +56,48 @@ hpp-template-corba_repository=${HPP_REPO}
# Either a version tag (e.g. v4.3.0), master or devel
HPP_EXTRA_FLAGS
=
-DBUILD_TESTING
=
${BUILD_TESTING}
$
hpp-util_branch
=
v4.
9.0
hpp-util_branch
=
v4.
10.1
hpp-util_repository
=
${HPP_REPO}
hpp-fcl_branch
=
v1.
4.4
hpp-fcl_branch
=
v1.
6.0
hpp-fcl_repository
=
${HPP_REPO}
hpp-fcl_extra_flags
=
-DCMAKE_BUILD_TYPE
=
Release
-DBUILD_PYTHON_INTERFACE
=
OFF
hpp-statistics_branch
=
v4.
9.0
hpp-statistics_branch
=
v4.
10.1
hpp-statistics_repository
=
${HPP_REPO}
hpp-pinocchio_branch
=
v4.
9.1
hpp-pinocchio_branch
=
v4.
10.2
hpp-pinocchio_repository
=
${HPP_REPO}
hpp-pinocchio_extra_flags
=
${HPP_EXTRA_FLAGS}
hpp-constraints_branch
=
v4.
9
.1
hpp-constraints_branch
=
v4.
10
.1
hpp-constraints_repository
=
${HPP_REPO}
hpp-constraints_extra_flags
=
${HPP_EXTRA_FLAGS}
-DUSE_QPOASES
=
OFF
hpp-core_branch
=
v4.
9
.1
hpp-core_branch
=
v4.
10
.1
hpp-core_repository
=
${HPP_REPO}
hpp-core_extra_flags
=
${HPP_EXTRA_FLAGS}
hpp-corbaserver_branch
=
v4.
9
.1
hpp-corbaserver_branch
=
v4.
10
.1
hpp-corbaserver_repository
=
${HPP_REPO}
hpp-walkgen_branch
=
v4.
9.2
hpp-walkgen_branch
=
v4.
10.1
hpp-walkgen_repository
=
${HPP_REPO}
hpp-wholebody-step_branch
=
v4.
9.0
hpp-wholebody-step_branch
=
v4.
10.1
hpp-wholebody-step_repository
=
${HPP_REPO}
hpp-wholebody-step_extra_flags
=
-DRUN_TESTS
=
OFF
hpp-doc_branch
=
master
hpp-doc_repository
=
${HPP_REPO}
hpp-manipulation_branch
=
v4.
9.0
hpp-manipulation_branch
=
v4.
10.1
hpp-manipulation_repository
=
${HPP_REPO}
hpp-manipulation-urdf_branch
=
v4.
9.0
hpp-manipulation-urdf_branch
=
v4.
10.1
hpp-manipulation-urdf_repository
=
${HPP_REPO}
hpp-manipulation-corba_branch
=
v4.
9
.1
hpp-manipulation-corba_branch
=
v4.
10
.1
hpp-manipulation-corba_repository
=
${HPP_REPO}
ifeq
(${HUMANOID}, TRUE)
...
...
@@ -106,26 +106,26 @@ else
hpp-manipulation_extra_flags
=
-DHPP_MANIPULATION_HAS_WHOLEBODY_STEP
=
FALSE
endif
hpp_tutorial_branch
=
v4.
9
.0
hpp_tutorial_branch
=
v4.
10
.0
hpp_tutorial_repository
=
${HPP_REPO}
hpp-gepetto-viewer_branch
=
v4.
9.0
hpp-gepetto-viewer_branch
=
v4.
10.1
hpp-gepetto-viewer_repository
=
${HPP_REPO}
hpp-plot_branch
=
v4.
9
.1
hpp-plot_branch
=
v4.
10
.1
hpp-plot_repository
=
${HPP_REPO}
hpp-gui_branch
=
v4.
9.0
hpp-gui_branch
=
v4.
10.1
hpp-gui_repository
=
${HPP_REPO}
hpp-practicals_branch
=
v4.
9
.0
hpp-practicals_branch
=
v4.
10
.0
hpp-practicals_repository
=
${HPP_REPO}
# }}}
##################################
# {{{ Robot specific package + test packages
example-robot-data_branch
=
v3.
3.0
example-robot-data_branch
=
v3.
6.1
example-robot-data_repository
=
${GEPETTO_REPO}
example-robot-data_extra_flags
=
-DBUILD_PYTHON_INTERFACE
=
OFF
...
...
@@ -147,19 +147,19 @@ iai_maps_repository=${HPP_REPO}
hpp_benchmark_branch
=
v4.6.0
hpp_benchmark_repository
=
${HPP_REPO}
hpp-environments_branch
=
v4.
9.0
hpp-environments_branch
=
v4.
10.1
hpp-environments_repository
=
${HPP_REPO}
universal_robot_branch
=
kinetic
universal_robot_repository
=
${HPP_REPO}
hpp-universal-robot_branch
=
v4.
9
.0
hpp-universal-robot_branch
=
v4.
10
.0
hpp-universal-robot_repository
=
${HPP_REPO}
hpp-baxter_branch
=
v4.
9
.0
hpp-baxter_branch
=
v4.
10
.0
hpp-baxter_repository
=
${HPP_REPO}
hpp_romeo_branch
=
v4.
9
.0
hpp_romeo_branch
=
v4.
10
.0
hpp_romeo_repository
=
${HPP_REPO}
...
...
@@ -167,40 +167,49 @@ hpp_romeo_repository=${HPP_REPO}
##################################
# {{{ Packages for rbprm
hpp-affordance_branch
=
v4.
9
.0
hpp-affordance_branch
=
v4.
10
.0
hpp-affordance_repository
=
${HPP_REPO}
hpp-affordance_extra_flags
=
${HPP_EXTRA_FLAGS}
hpp-affordance-corba_branch
=
v4.
9
.0
hpp-affordance-corba_branch
=
v4.
10
.0
hpp-affordance-corba_repository
=
${HPP_REPO}
hpp-affordance-corba_extra_flags
=
${HPP_EXTRA_FLAGS}
talos-rbprm_branch
=
4.9.0
anymal-rbprm_branch
=
v4.10.0
anymal-rbprm_repository
=
${HPP_REPO}
hyq-rbprm_branch
=
v4.10.0
hyq-rbprm_repository
=
${HPP_REPO}
simple-humanoid-rbprm_branch
=
v4.10.0
simple-humanoid-rbprm_repository
=
${HPP_REPO}
talos-rbprm_branch
=
v4.10.0
talos-rbprm_repository
=
${HPP_REPO}
hpp-rbprm_branch
=
v4.
9.0
hpp-rbprm_branch
=
v4.
10.1
hpp-rbprm_repository
=
${HPP_REPO}
hpp-rbprm_extra_flags
=
${HPP_EXTRA_FLAGS}
hpp-rbprm-robot-data_branch
=
v4.9.0
hpp-rbprm-robot-data_repository
=
${HPP_REPO}
hpp-rbprm-corba_branch
=
v4.
9
.0
hpp-rbprm-corba_branch
=
v4.
10
.0
hpp-rbprm-corba_repository
=
${HPP_REPO}
hpp-rbprm-corba_extra_flags
=
${HPP_EXTRA_FLAGS}
hpp-centroidal-dynamics_branch
=
v4.
9
.0
hpp-centroidal-dynamics_branch
=
v4.
10
.0
hpp-centroidal-dynamics_repository
=
${HPP_REPO}
hpp-bezier-com-traj_branch
=
v4.
9.0
hpp-bezier-com-traj_branch
=
v4.
10.1
hpp-bezier-com-traj_repository
=
${HPP_REPO}
hpp-bezier-com-traj_extra_flags
=
-DBUILD_PYTHON_INTERFACE
=
ON
curves_branch
=
v0.
4.1
curves_branch
=
v0.
5.2
curves_repository
=
${LOCO3D_REPO}
curves_extra_flags
=
-DBUILD_PYTHON_INTERFACE
=
ON
eigenpy_branch
=
v2.
3.2
eigenpy_branch
=
v2.
5.0
eigenpy_repository
=
${SOT_REPO}
# }}}
...
...
@@ -216,7 +225,7 @@ osg-dae_repository=${GEPETTO_REPO}
osg-dae_extra_flags
=
-DCOLLADA_DYNAMIC_LIBRARY
=
${INSTALL_HPP_DIR}
/lib/libcollada14dom.so
-DCOLLADA_INCLUDE_DIR
=
${INSTALL_HPP_DIR}
/include/collada-dom
OpenSceneGraph-3.4.0_extra_flags
=
-DDESIRED_QT_VERSION
=
${QT_VERSION}
-DCOLLADA_DYNAMIC_LIBRARY
=
${INSTALL_HPP_DIR}
/lib/libcollada14dom.so
-DCOLLADA_INCLUDE_DIR
=
${INSTALL_HPP_DIR}
/include/collada-dom
-DLIB_POSTFIX
=
""
gepetto-viewer_branch
=
v4.
9.0
gepetto-viewer_branch
=
v4.
10.1
gepetto-viewer_repository
=
${GEPETTO_REPO}
ifeq
(${QT_VERSION}, 5)
gepetto-viewer_extra_flags
=
-DPROJECT_USE_QT4
=
OFF
...
...
@@ -224,7 +233,7 @@ else
gepetto-viewer_extra_flags
=
-DPROJECT_USE_QT4
=
ON
endif
gepetto-viewer-corba_branch
=
v5.
4.0
gepetto-viewer-corba_branch
=
v5.
5.1
gepetto-viewer-corba_repository
=
${GEPETTO_REPO}
pythonqt_branch
=
qt
${QT_VERSION}
...
...
@@ -348,10 +357,14 @@ hpp_romeo.configure.dep: hpp_romeo.checkout
hpp-affordance.configure.dep
:
hpp-core.install hpp-fcl.install hpp-affordance.checkout
hpp-affordance-corba.configure.dep
:
hpp-affordance.install hpp-template-corba.install
\
hpp-corbaserver.install hpp-affordance-corba.checkout
anymal-rbprm.configure.dep
:
anymal-rbprm.checkout
hyq-rbprm.configure.dep
:
hyq-rbprm.checkout
simple-humanoid-rbprm.configure.dep
:
simple-humanoid-rbprm.checkout
talos-rbprm.configure.dep
:
talos-rbprm.checkout
hpp-rbprm.configure.dep
:
hpp-core.install hpp-centroidal-dynamics.install
\
hpp-rbprm-robot-data.install hpp-affordance.install curves.install
\
hpp-bezier-com-traj.install talos-rbprm.install hpp-rbprm.checkout
anymal-rbprm.install hyq-rbprm.install talos-rbprm.install simple-humanoid-rbprm.install
\
hpp-affordance.install curves.install
\
hpp-bezier-com-traj.install hpp-rbprm.checkout
hpp-rbprm-robot-data.configure.dep
:
hpp-rbprm-robot-data.checkout
hpp-rbprm-corba.configure.dep
:
hpp-rbprm.install hpp-affordance-corba.install
\
hpp-corbaserver.install hpp-rbprm-robot-data.install hpp-rbprm-corba.checkout
...
...
@@ -406,6 +419,7 @@ update:
else
\
cd
${SRC_DIR}
/
$
(
@:.fetch
=)
;
\
git fetch
${GIT_QUIET}
origin
;
\
git fetch
${GIT_QUIET}
origin
--tags
;
\
fi
%.update
:
...
...
@@ -416,6 +430,7 @@ update:
git remote
rm
origin
;
\
git remote add origin
${
$
(@
:.update
=)_repository
}
/
$
(
@:.update
=)
;
\
git fetch origin
;
\
git fetch origin
--tags
;
\
git checkout
-q
--detach
;
\
git branch
-f
${
$
(@
:.update
=)_branch
}
origin/
${
$
(@
:.update
=)_branch
}
;
\
git checkout
-q
${
$
(@
:.update
=)_branch
}
;
\
...
...
@@ -432,6 +447,7 @@ update:
mkdir
-p
${SRC_DIR}
/
$
(
@:.configure_nodep
=)
/
${BUILD_FOLDER}
;
\
cd
${SRC_DIR}
/
$
(
@:.configure_nodep
=)
/
${BUILD_FOLDER}
;
\
cmake
-DCMAKE_INSTALL_PREFIX
=
${INSTALL_HPP_DIR}
-DCMAKE_INSTALL_LIBDIR
=
lib
-DCMAKE_BUILD_TYPE
=
${BUILD_TYPE}
\
-DENFORCE_MINIMAL_CXX_STANDARD
=
ON
\
-DINSTALL_DOCUMENTATION
=
${INSTALL_DOCUMENTATION}
\
-DCMAKE_CXX_FLAGS_RELWITHDEBINFO
=
"-g -O3 -DNDEBUG"
\
${
$
(@
:.configure_nodep
=)_extra_flags
}
..
...
...
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