install.rst

Installation

This code has been tested on Ubuntu 12.04.

Dependencies

• bulletsim
• trajopt
  • OpenRAVE >= 0.9
  • PCL 1.7
• Python 2.7
• NumPy >= 1.8.1
• SciPy >= 0.9
• HDF5
• h5py
• joblib

Instructions

• Install bulletsim from source. Use the lite branch and follow its README instructions.
• Install trajopt from source. Follow the installation instructions but with the following modifications:
  • Use this fork and the trajopt-jointopt branch instead.

  • Install OpenRAVE 0.9 or later from the OpenRAVE testing PPA. :

    sudo add-apt-repository ppa:openrave/testing
    sudo apt-get update
    sudo apt-get install openrave

  • Install PCL 1.7. :

    sudo apt-get install libpcl-1.7-all

  • Run the cmake command with the option BUILD_CLOUDPROC=ON, that is: :

    cmake /path/to/trajopt -DBUILD_CLOUDPROC=ON

• Install NumPy, SciPy and HDF5. :

  sudo apt-get install python-numpy python-scipy libhdf5-serial-dev

• Install h5py and joblib with pip. :

  sudo pip install h5py joblib

Add the following path to your PYTHONPATH:

/path/to/lfd

Now you should be able to run the scripts in the examples directory.

Running the Test Suite

You can run the test suite using this command:

python -m unittest discover -s /path/to/lfd/test/