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README.md

frasier_openrave

Installation

Dependencies:

OpenRAVE Installation
Install dependencies:

sudo apt install cmake g++ git ipython minizip
python-dev python-h5py python-numpy python-scipy python-sympy qt4-dev-tools
sudo apt install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev libboost-all-dev libboost-date-time-dev
libbullet-dev libfaac-dev libglew-dev libgsm1-dev liblapack-dev liblog4cxx-dev libmpfr-dev libode-dev libogg-dev   
libpcrecpp0v5 libpcre3-dev libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev libswscale-dev
libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev

Build OpenRAVE from source:

  1. git clone https://github.com/rdiankov/openrave.git
  2. cd openrave && mkdir build && cd build
  3. cmake .. -DOPENRAVE_PLUGIN_QTOSGRAVE=OFF
  4. make -j5
  5. sudo make install
  6. Add the following to .bashrc:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$(openrave-config --python-dir)/openravepy/_openravepy_
export PYTHONPATH=$PYTHONPATH:$(openrave-config --python-dir)

Note: OSG is turned off because OpenRAVE requires OSG 3.4 which is creating problems for TrajOpt compiliation. The package uses QtCoin for the GUI.

TrajOpt Installation
Install dependencies:

sudo apt install libopenscenegraph-dev libeigen3-dev

Trajopt uses Gurobi for the optimization. Install Gurobi by following the instructions here. You can get a free acadamic license if you have .edu email.

  1. git clone https://github.com/tkelestemur/trajopt.git
  2. cd trajopt && mkdir build && cd build
  3. cmake .. -DGUROBI_LIBRARY=/opt/gurobi801/linux64/lib/libgurobi80.so
  4. make -j4
  5. Add the following to .bashrc:
export TRAJOPT_HOME=/path/to/trajopt/folder

Package Installation
Install dependencies:

sudo apt install ros-kinetic-ecl
  1. cd catkin_ws/src
  2. git clone https://github.com/tkelestemur/frasier_openrave.git
  3. catkin build

TODO:

  • visualize collison objects in rviz
  • redundant ik solver from openrave
  • point cloud updater using ROS
  • cannot set goal angle for base_t_joint
  • fix viewer (change to osg viewer)
  • IK using trajopt
  • planning using trajopt
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