- For all installations:
- Ubuntu 16.04 with ROS Kinetic or Ubuntu 18.04 with ROS Melodic. Ubuntu 14.04 with ROS Indigo may continue to work but is not officially supported or covered by continuous integration any longer.
- catkin_tools (
catkin_makeis no longer supported)
- ROS (
ros-[release]-desktopis recommended but more minimal versions work in conjunction with rosdep)
- ROS Indigo (Ubuntu 14.04) - retired since September 2018:
- For Eigen, we recommend system-installing 3.2.10 or newer, for which we provide a Debian.
- gcc >`4.9 <https://askubuntu.com/questions/466651/how-do-i-use-the-latest-gcc-on-ubuntu>`_ – the 14.04 system-installed 4.8.4 won’t work. On Ubuntu 16.04, you can use the system-provided gcc/g++.
- For compiling
fcl_catkin, you need to add a PPA for
- ROS Melodic (Ubuntu 18.04):
- Please clone
pybind11_catkininto your source directory from here.
- Please clone
Installation from source¶
- Clean installation:
- Create a catkin workspace or use an existing workspace. catkin_tools is the preferred build system.
- Clone this repository into the
src/subdirectory of the workspace (any subdirectory below
git clone email@example.com:ipab-slmc/exotica.git.
cdinto the the cloned directory.
- Install dependencies
- If running rosdep for the first time start by running:
sudo rosdep init
rosdep update ; rosdep install --from-paths ./ -iy
- Compile the code
- Source the config file (ideally inside
source path_to_workspace/devel/setup.bash. You may have to source the config file from your installspace if your workspace is configured for installation.
Have a look at the
If you have sourced the workspace correctly you should be able to run any of the demos, e.g.:
roslaunch exotica_examples cpp_ik_minimal.launch roslaunch exotica_examples cpp_core.launch roslaunch exotica_examples cpp_aico.launch roslaunch exotica_examples python_ompl.launch roslaunch exotica_examples python_attach.launch roslaunch exotica_examples python_collision_distance.launch roslaunch exotica_examples python_sphere_collision.launch