OpenRAVE3

This repository forks the original OpenRAVE, the Open Robotics Automation Virtual Environment, from

https://github.com/rdiankov/openrave

The repository allows the user to build this C++ package and its Python3 bindings on macOS and Linux.

Install Python3 and Boost on macOS

• Install Homebrew

$ /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"

See https://brew.sh/ for more details.

• Install third party libraries with Homebrew

$ brew install python3 libxml2 boost boost-python3

The packages are normally installed under /usr/local/Cellar, the header files are linked to /usr/local/include, and the libraries are linked to /usr/local/lib.

A more preferrable way to install Python3 on macOS is using its 64-bit installer (python-3.x.y-macosx10.9.pkg), which one can download from https://www.python.org/downloads/mac-osx/. It installs Python3 under

/Library/Frameworks/Python.framework/Versions/3.x

Install Python3 and Boost on Linux

• Specify the installation path of OpenRAVE3 by

export OPENRAVE3_INSTALL_DIR=......

Add its subdirectory lib into the library search paths by

echo 'export LD_LIBRARY_PATH='$OPENRAVE3_INSTALL_DIR/lib':$LD_LIBRARY_PATH' >> ~/.bashrc

• Install Python3.x and Boost 1.7x

We show how to build Python 3.8 and Boost 1.71 from source files. Other similar versions can be installed analogously.

# Install Python 3.8
wget https://www.python.org/ftp/python/3.8.0/Python-3.8.0.tgz
tar xvfz Python-3.8.0.tgz
cd Python-3.8.0
./configure --prefix=$OPENRAVE3_INSTALL_DIR --enable-shared
make && make install
cd $OPENRAVE3_INSTALL_DIR/bin
./pip3 install numpy ipython

# Install Boost 1.71 
wget https://dl.bintray.com/boostorg/release/1.71.0/source/boost_1_71_0.tar.gz
tar xvfz boost_1_71_0.tar.gz
cd boost_1_71_0
./bootstrap --prefix=$OPENRAVE3_INSTALL_DIR --with-python=$OPENRAVE3_INSTALL_DIR/bin/python3
./b2 --prefix=$OPENRAVE3_INSTALL_DIR install

Install OpenRAVE3

• Clone this repo

git clone [email protected]:tgn3000/openrave3.git

Edit accordingly Python3's version and Boost's version in openrave3/src/CMakeLists.txt.

(To be written ...)

• Final installation

cd openrave3/src
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=$OPENRAVE3_INSTALL_DIR ..
make -j4
make install

License

• LGPL https://www.gnu.org/licenses/license-list.html#LGPL