Commit 5470c1c1 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Update installation instructions

- OSG-DAE works on 16.04 now.
- There is no need to install dependencies. apt will get them automatically.
parent 2b976815
#! /bin/sh
### Install basic dependencies
sudo apt-get install -y cmake cmake-curses-gui cmake-qt-gui curl doxygen g++ ipython libassimp-dev assimp-utils libboost-dev omniidl-python omniorb omniorb-idl omniorb-nameserver libomniorb4-dev libomnithread3-dev python python-matplotlib python-numpy python-scipy python2.7 qgit libbz2-dev zlib1g-dev libssl-dev pax tar libeigen3-dev libtinyxml-dev liburdfdom-dev libboost-all-dev libpcre3-dev libopenscenegraph-dev libqt4-dev python-qt4-dev libncurses-dev python-pip cython python-h5py
### Setup environment
echo 'export ROBOTPKG_BASE=/opt/openrobots' >> .bashrc
echo 'export PKG_CONFIG_PATH=$ROBOTPKG_BASE/lib/pkgconfig:${PKG_CONFIG_PATH}' >> .bashrc
echo 'export LD_LIBRARY_PATH=$ROBOTPKG_BASE/lib/:$ROBOTPKG_BASE/lib64/:${LD_LIBRARY_PATH}' >> .bashrc
......@@ -28,5 +27,3 @@ sudo pip install quadprog
export TF_BINARY_URL=https://storage.googleapis.com/tensorflow/linux/cpu/tensorflow-1.4.0-cp27-none-linux_x86_64.whl
pip install --upgrade $TF_BINARY_URL
pip install tflearn
......@@ -23,21 +23,13 @@ The tutorial is performed inside a virtual machine, under VirtualBox. VirtualBox
ii) Installation on the native Ubuntu system
--------------------------------------------
You can alternatively install the software on a native Linux. The instructions are the same for Ubuntu 12.04, 14.04 (32 or 64bits). It should work for a Ubuntu 16.04 (except osg-dae that is not working).
You can alternatively install the software on a native Linux. The instructions are the same for Ubuntu 12.04, 14.04 (32 or 64bits) and 16.04 (64bits).
The link:tp0_install_sh.html[script here] collects all the instructions that were needed to set up the above Virtual Box. It should run immediately on U14.04x64.
On Ubuntu 14.04, the following distrib packages are needed (similar in u16.04, just adapt some of the names with simple google searches):
[source,python]
----
apt-get install cmake cmake-curses-gui cmake-qt-gui curl doxygen g++ ipython libassimp-dev assimp-utils libboost-dev omniidl-python omniorb omniorb-idl omniorb-nameserver libomniorb4-dev libomnithread3-dev python python-matplotlib python-numpy python-scipy python2.7 qgit libbz2-dev zlib1g-dev libssl-dev pax tar libeigen3-dev libtinyxml-dev liburdfdom-dev libboost-all-dev libpcre3-dev libopenscenegraph-dev libqt4-dev python-qt4-dev libncurses-dev python-pip cython python-h5py
----
Then
The Debian (APT) packages are build from a packaging "from sources" system named robot-pkg.
Debian packets have been tested on U14.04 and U16.04. They should run out of the box (osg-dae only works on U14.04 but may be skipped). Set up the repository of robot-pkg:
[source,python]
The Debian (APT) packages are build from a packaging "from sources" system named robot-pkg.
Debian packets have been tested on U14.04 and U16.04. They should run out of the box. Set up the repository of robot-pkg:
[source,bash]
----
relcode=`lsb_release -cs`
sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
......@@ -78,5 +70,3 @@ git clone git://git.openrobots.org/robots/robotpkg/robotpkg-wip wip
Once robot-pkg is set up, install the packages wip/pinocchio (make checkout before make install), wip/osg-dae, and graphics/gepetto-viewer-corba/ .
The installation can be tested by running link:tp0_viewer_unittest_py.html[this Python script].
On u16.04, the plugin Osg-dae is not going to install properly. As most of the URDF files are using DAE mesh files, gepetto-viewer will not be able to properly display your models (note that Pinocchio will work properly, only display will fail). You then have two solutions: - re-compile OSG from source, which should also install the OSG DAE plugin. This is 2 hours of compilation, but should work fine. - In your URDF model, duplicate your mesh files to have both DAE file and OSG file (using osgconv). Then patch robot_wrapper.py to have gepetto-viewer loading the OSG files instead of DAE files (do not modify the URDF file): replace line #184 by "self.viewer.gui.addMesh(meshName, meshPath[:-3]+'osg')"
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