openrave安装

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 

• Various Python packages: NumPy, YAML, JSON
  

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