⚠️Warning: AIKIDO is under heavy development. These instructions are primarily for reference by the developers.
AIKIDO is a C++ library, complete with Python bindings, for solving robotic motion
planning and decision making problems. This library is tightly integrated with
DART for kinematic/dynamics calculations and OMPL for motion planning. AIKIDO
optionally integrates with ROS, through the suite of
aikido_ros packages, for
execution on real robots.
AIKIDO depends on CMake, Boost, DART (version 6.1 or above), OMPL, and the
Python development headers (
python-dev on Debian systems). DART and AIKIDO both
make heavy use of C++11 and require a modern compiler.
Once the dependencies are installed, you can build AIKIDO using CMake:
$ mkdir build $ cd build $ cmake .. $ make $ sudo make install
If you are using the older
catkin_make command, then you must build your workspace
catkin_make_isolated. This may dramatically increase your build time, so we
strongly recommend that you use
catkin build, which is provided by the
catkin_tools package, if possible.
Aikido is licensed under a BSD license. See LICENSE for more information.
Aikido is developed by the Personal Robotics Lab in the Robotics Institute at Carnegie Mellon University. The library was started by Michael Koval (@mkoval) and Pras Velagapudi (@psigen). It has received major contributions from Shushman Choudhury (@Shushman), Aaron Johnson (@aaronjoh), Jennifer King (@jeking), Gilwoo Lee (@lgw903), and Clint Liddick (@ClintLiddick). We also would like to thank Michael Grey (@mxgrey) and J.S. Lee (@jslee02) for making changes to DART to better support Aikido.