需要用到某篇论文的代码,需要用到openrave等第三方库,折腾一番后记录一下
参考安装
https://scaron.info/teaching/installing-openrave-on-ubuntu-14.04.html
http://openrave.org/docs/latest_stable/coreapihtml/installation_linux.html
然后测试OpenRAVE
openrave.py --example hanoi
openrave.py --example graspplanning
注意记得安装下面的:
Collision Checkers and Physics Simulators
Although OpenRAVE is not tied to any particular collision checker, it requires at least one is installed to get basic functions. Here are the following libraries that have OpenRAVE plugins:
- ODE Collision/Physics - install from sources 0.8-0.10.1 tested to work. It is possible to compile ODE with double precision.
-
- For 0.10.1, configuring with
–enable-new-trimesh
option will randomly crash openrave, so use at your own risk. - If not using enable-new-trimesh, disabling asserts (via
–disable-asserts
) is necessary due to some weird bug in normalization bug. - For 0.10+. If installing on x86-64 distro, configure ODE with
–enable-shared
.
- Bullet Collision - Need to install to a system directory so OpenRAVE can find it using
pkg-config
. If using autotools configure
, need to remove install-sh
before running autogen.sh
. Bullet is detected using pkg-config
, so bullet.pc
is needed.
- PQP Collision - source code separate inside pqprave plugin.
安装ODE
sudo dpkg -i file.deb
安装bullet
http://www.zgxue.com/164/1647809.html
https://code.google.com/p/bullet/downloads/list
安装python包:
http://www.linuxidc.com/Linux/2012-06/62416.htm
sudo apt-get install python-nltk
sudo apt-get install python-scipy
记得安装!!!
查询软件是否成功安装
dpkg
-
s python-numpy
安装
JSON sudo
apt-get install libjson0-dev libjson0
安装ROS:
然后要先卸载libassimp3.0 ,断了vpn,再安装ROS
测试 roswtf
测试Moveit!是否安装好
roslaunch pr2_moveit_tutorials move_group_interface_tutorial.launch
找文件
find /usr -name "*scipy*"
.bashrc文件里要添加:
export PYTHONPATH="$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/share/pyshared"
export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_"
export PYTHONPATH="$PYTHONPATH:/usr/local/lib/python2.7/dist-packages"
source /usr/local/share/openrave-0.9/openrave.bash
source /opt/ros/hydro/setup.bash
export GUROBI_HOME="/opt/gurobi502/linux32"
export PATH="${PATH}:${GUROBI_HOME}/bin"
export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:${GUROBI_HOME}/lib"
export GRB_LICENSE_FILE=/home/cwx/gurobi.lic
export PYTHONPATH="$PYTHONPATH:/home/cwx/trajopt-master:/home/cwx/trajopt-master/build/lib"
安装gurobi6.0.5
下载gurobi6.0.5
放到/opt
sudo tar xvfz gurobi6.0.5_linux64.tar.gz
修改环境变量
export GUROBI_HOME="/opt/gurobi605/linux64"
export PATH="${PATH}:${GUROBI_HOME}/bin"
export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:${GUROBI_HOME}/lib"
获取许可证
http://user.gurobi.com/download/licenses/free-academic
grbgetkey b3a3ad84-f700-c014-85d1-565bf82e2231
修改环境变量
export GRB_LICENSE_FILE=/home/cwx/gurobi.lic
测试
gurobi.sh
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