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OMPL

Page history last edited by Scott Kiesel 8 years, 1 month ago

(if you're using ROS and want OMPL, see MoveIt!)

 

OMPL has become slightly trickier to install recently and has some outdated installation documentation, especially in terms of its dependencies and how to properly install them.

 

Assuming you're using Ubuntu and you're fine to use your home dir as your working directory...

 

Dependencies first:

 

----the easy stuff----

sudo apt-get install libboost-all-dev cmake python-dev python-qt4-dev python-qt4-gl python-opengl freeglut3-dev libassimp-dev libeigen3-dev libode-dev doxygen graphviz libqt4-dev python-pygccxmlsudo pip install python-utils

 

----libccd----

cd ~

mkdir -p github.com/danfis

cd github.com/danfis

git clone https://github.com/danfis/libccd

cd libccd

#ignore their instructions

mkdir build

cd build

cmake ..

make

sudo make install

 

----octomap----

cd ~

mkdir -p github.com/OctoMap

cd github.com/OctoMap

git clone https://github.com/OctoMap/octomap

cd octomap

mkdir build

cd build

cmake ..

make

sudo make install

 

----flann----

cd ~

mkdir -p github.com/mariusmuja

cd github.com/mariusmuja

git clone https://github.com/mariusmuja/flann

cd flann

mkdir build 

cd build

cmake ..

make

sudo make install

 

----fcl----

cd ~

mkdir -p github.com/flexible-collision-library

cd github.com/flexible-collision-library

git clone https://github.com/flexible-collision-library/fcl

cd fcl

mkdir build 

cd build

cmake ..

make

#if during the previous step you run into an issue where ld complains about not having compiled libccd with -fPIC

#you can delete /usr/local/lib/libccd.a -- and then it'll find the correct libccd.so file instead

sudo make install

 

----pygccxml----

cd ~

mkdir -p github.com/gccxml

cd github.com/gccxml

git clone https://github.com/gccxml/pygccxml

cd pygccxml

sudo python setup.py install

 

----pyplusplus----

cd ~

mkdir -p bitbucket.org/ompl

cd bitbucket.org/ompl

hg clone https://bitbucket.org/ompl/pyplusplus

cd pyplusplus

sudo python setup.py install

 

----ompl----

cd ~

mkdir ompl

cd ompl

git clone https://github.com/ompl/omplapp.git

cd omplapp

git clone https://github.com/ompl/ompl.git

mkdir -p build/Release

cd build/Release

cmake ../..

make update_bindings

make

sudo make install

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