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.
$ sudo apt-get install libopenscenegraph-dev cmake libboost-all-dev libeigen3-dev python-numpy
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
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 (
dpkg -i, etc).
- Pras Velagapudi
- Michael Koval