These install instructions are focused on Debian/Ubuntu systems.
- Follow the shared instructions of the C++ library from orocos_kdl/INSTALL.md
- Depending on your python version install the
futureandpsutilmodule- Python 2:
sudo apt-get install python-psutil python-future - Python 3:
sudo apt-get install python3-psutil python3-future
- Python 2:
- (Optional) Install
Sphinxto generate API-documentation- Python 2:
sudo apt-get install python-sphinx - Python 3:
sudo apt-get install python3-sphinx
- Python 2:
- Clone the repository inside the workspace
- Initialize the PyBind11 submodule:
git submodule update --init - Build with your catkin tool of preference. This will also build the C++ library
- Source the workspace
- (Optional) To generate the API-documentation use either rosdoc_lite or catkin_tools_document
- Clone the repository where you want
- Initialize the PyBind11 submodule:
git submodule update --init - Follow the mandatory instruction to compile the C++ library from orocos_kdl/INSTALL.md
- Create a new build folder (it is always better not to build in the source folder):
mkdir build - Go to the build folder
cd build - Execute cmake:
cmake ..- (Optional) Adapt
CMAKE_INSTALL_PREFIXto the desired installation directory - (Optional) To change the build type, add:
-DCMAKE_BUILD_TYPE=<DESIRED_BUILD_TYPE> - (Optional) To change the python version (default=2), set
ROS_PYTHON_VERSIONenvironment variable to either2or3.
- (Optional) Adapt
- Compile:
make - Install the python bindings:
sudo make install - Make sure
LD_LIBRARY_PATHis set correctly:export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib. Add this also to your.bashrc. - Execute
ldconfig:sudo ldconfig - (Optional) Execute tests:
- Python 2:
python2 ../tests/PyKDLtest.py - Python 3:
python3 ../tests/PyKDLtest.py
- Python 2:
- (Optional) To create the API-documentation:
sphinx-build ../doc docs. The API-documentation will be generated at<builddir>/docs.
To uninstall the python bindings: sudo make uninstall