OpenRAVE plugin to expose TrajOpt code as an OpenRAVE planner
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Failed to load latest commit information.
src/or_trajopt
.gitignore
CHANGELOG.rst
CMakeLists.txt
LICENSE.txt
README.md
package.xml
setup.py

README.md

or_trajopt

OpenRAVE prpy bindings for TrajOpt.

This plugin downloads and builds TrajOpt from source and creates a Python wrapper that interfaces it with the prpy planning API.

All of the normal TrajOpt python bindings are also available when this package is included in a catkin workspace.

Dependencies

$ sudo apt-get install libopenscenegraph-dev cmake libboost-all-dev libeigen3-dev python-numpy

(See http://rll.berkeley.edu/trajopt/doc/sphinx_build/html/install.html#dependencies)

Known Issues

OpenSceneGraph issue in Parallels VM

You will likely receive several "undefined reference to glXCreateGLXPbufferSGIX" linking errors when building TrajOpt inside a Parallels virtual machine. This is known issue that results from OpenSceneGraph using a deprecated OpenGL command that is not implemented by Parallels. You can work around this issue by building OpenSceneGraph from source the GLX_SGIX_pbuffer pre-processor define #undefed.

If you are on Ubuntu, you can easily build a patched version of OpenSceneGraph using git-buildpackage. To do so, run:

$ git clone https://github.com/mkoval/openscenegraph-release.git
$ cd openscenegraph-release
$ gbp buildpackage --git-debian-branch=master -uc -us

This will produce several .deb packages in the parent directory. You can install these Debian packages using your favorite installation method (gdebi, dpkg -i, etc).

License

See LICENSE.txt.

Contributors

  • Pras Velagapudi <pkv@cs.cmu.edu>
  • Michael Koval <mkoval@cs.cmu.edu>