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[](http://www.gnu.org/licenses/lgpl-3.0.txt)
[](https://travis-ci.org/stack-of-tasks/pinocchio)
[](https://coveralls.io/github/stack-of-tasks/pinocchio?branch=devel)
[](https://scan.coverity.com/projects/pinocchio)
**Warning:** This repository contains [Git
submodules][git-submodules]. Please clone this repository using the
`git clone --recursive` command. If you already have cloned the
repository, you can run `git submodule init && git submodule update`
to retrieve the submodules.
For general information about the project, please refer to its
homepage: http://stack-of-tasks.github.io/pinocchio/
Setup
-----
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 Pinocchio software depends on several packages which
- boost unit_test_framework filesystem
- Optional:
- urdfdom (version >= 0.3.0)
- LUA (version == 5.1)
- System tools:
- CMake (>=2.6)
- pkg-config
- usual compilation tools (GCC/G++, make, etc.)
- Bindings:
- Python: Python 2.7 + Numpy + Boost python + EigenPy (https://github.com/stack-of-tasks/eigenpy.git)
### 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