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INSTALL
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INSTALL
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===============================================================================
OpenRobots Simulator
(c) LAAS/ONERA 2009-2010
===============================================================================
I/ Requirements - What you need to install before
-------------------------------------------------
I.1 Common requirements
-----------------------
- Python (2.6 or +)
- Blender 2.49 build with Python 2.6 [1]
- git to get the code of the simulator:
$ git clone http://trac.laas.fr/git/robots/morse.git
If you plan to use the simulator with raw sockets of text files as "middleware",
you don't need anything else.
I.2 YARP
--------
For the YARP bindings
- YARP version (2.2.5 or +)
- YARP python binding
- ACE ( 5.6.3 or +, required for YARP)
Instructions to create YARP-Python bindings are here:
http://eris.liralab.it/wiki/YARP_and_Python
Note that the easiest way to install YARP is probably to use robotpkg (see
http://homepages.laas.fr/mallet/robotpkg for more instructions). You can
install yarp and its dependancies using make install into devel/libpyyarp.
Compiling the YARP Python binding will create two files: yarp.py and _yarp.so
Copy them to the your Python lib directory (/usr/lib/python2.6/site-packages/)
or at some place reachable from your PYTHONPATH environment variable.
[NOTE FOR ROBOTPKG] You'll need to set the environnement variable PYTHONPATH to
${ROBOTPKG_BASE}/lib/python2.6/site-packages/ to let python finds the yarp
module.
I.2 Pocolibs
------------
To build Pocolibs bindings (the LAAS-CNRS middleware), you need to install
Pocolibs on your system.
The recommended way to do it is through robotpkg (see
http://homepages.laas.fr/mallet/robotpkg for more informations).
To install:
$ cd $ROBOTPKG/devel/pocolibs
$ make update
II/ Installation
----------------
From your MORSE root directory:
$ mkdir build && cd build
$ cmake ..
$ make install
By default, MORSE will install in /usr/local. You can easily change that by
launching ccmake instead of cmake. You can also set there if you want YARP and
Pocolibs bindings to be build.
III/ Running a simulation
-------------------------
[YARP specific] Before to start a simulation: Start the YARP's server
with this command from a terminal "yarp server".
Launch MORSE by calling the morse executable:
$ morse
Several options are available, check them with:
$ morse help
Two environment variable have noticable effects:
- $PYTHONPATH specifies the directories where MORSE scripts are located. It will start with the MORSE installation prefix, followed by the path to the python scripts. It must also include the full path to the directory 'morse/blender' within the installed files. Example:
tcsh:
setenv PYTHONPATH {morse_install_prefix}/lib/python2.6/site-packages:{morse_install_prefix}/lib/python2.6/site-packages/morse/blender
bash:
export PYTHONPATH={morse_install_prefix}/lib/python2.6/site-packages:{morse_install_prefix}/lib/python2.6/site-packages/morse/blender
- $ORS_BLENDER that allows you to specify a custom Blender executable (else,
Blender is looked for in the path).
You can check your configuration is ok with:
$ morse check
Once launched, you can test the simulator by loading one of the example scenarii
from $ORS_ROOT/share/examples/morse/scenarii (.blend files)
To start a simulation, go on blender and press "P" to play the scenario.
IV/ Testing
-----------
To test the external control clients, open the Blender file:
$ORS_ROOT/share/examples/morse/scenarii/indoors_1/indoor_scene-2.0.blend
Start the simulation ('P')
Run the C program:
$ORS_ROOT/share/examples/morse/clients/atrv/atrv_destination-1.0
Enter the coordinates where you want the robot to go. The robot will try to get
there.
Tips: If you have any problem to start to play a simulation: start blender
from a terminal and send us the error messages.
[1] For the moment the simulator work only with this version.
Blender 2.5 is being worked on.