Required instalation to use IK-Fast on ROS moveit
Install OpenRAVE from source on Ubuntu 18.04 bionic No official PPA.
sudo apt install git sudo apt install libboost-filesystem-dev libboost-system-dev libboost-python-dev libboost-thread-dev libboost-iostreams-dev libboost-numpy-dev sudo apt install libqt4-dev qt4-dev-tools libxml2-dev libode-dev sudo apt install libsoqt4-dev libcoin80-dev sudo apt install rapidjson-dev liblapack-dev # For openravepy. Note that Xenial sympy is 0.7.6, see next line sudo apt install python-scipy # OpenRAVE ikfast needs sympy 0.7.1, https://github.com/rdiankov/openrave/p ull/407 pip install --upgrade --user sympy==0.7.1 # Open .zae files, only Ubuntu 16.04 sudo apt install libcollada-dom2.4-dp-dev cd # go home mkdir -p repos; cd repos # create $HOME/repos if it doesn't exist; then, enter it git clone --branch boost-1.6x-forcompile https://github.com/roboticslab-uc3m/openrave.git # git clone --branch master https://github.com/rdiankov/openrave.git cd openrave; mkdir build; cd build cmake .. -DOPT_VIDEORECORDING=OFF # Avoids AV errors make -j$(nproc) sudo make install; cd # install and go home
Note that you may end up requiring over 2 GB of free space during the installation of apt dependencies. To avoid that, use the –noinstall-recommends option as in:
sudo apt install –no-install-recommends package
Thus, apt would not try to install non-critical packages marked as recommended by the dependencies of OpenRAVE.
Known Issues (Ubuntu 18.04) In case you run into non-constant-expression cannot be narrowed from type ‘double’ to ‘float’ in initializer list [- Wc++11-narrowing] errors (happened on OpenRAVE 0.15 and a Clang 6.0.0/7.0.0 compiler), reconfigure CMake with the following option: cmake .. -DOPT_IKFAST_FLOAT32=OFF Install Openrave 4
Source of instructions
http://robots.uc3m.es/gitbook-installation-guides/installation-guides.pdf