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tutorials:installing_orocos_kdl_in_debian [2019/05/23 09:59]
dgarcia [Installing from Master]
tutorials:installing_orocos_kdl_in_debian [2019/10/03 00:52]
dgarcia Remove deprecated stuff
Line 1: Line 1:
 ====== Installing Orocos KDL in Debian ====== ====== Installing Orocos KDL in Debian ======
 +
 +**WARNING**:​ This tutorial will soon be deprecated because we are going to migrate to [[tutorials:​arcos_kdl|ARCOS-KDL]]. ​
  
   * Set a xstow environment [[using_xstow_for_local_installations|Using xstow for local installations]]   * Set a xstow environment [[using_xstow_for_local_installations|Using xstow for local installations]]
Line 9: Line 11:
   make install-python   make install-python
   ​   ​
-====== Installing inside a Python Virtual Environment ====== 
-**WARNING!** This is still work in progress 
-First install the dependencies for making a virtualenv 
-<code bash> 
-  sudo apt install python-virtualenv 
-</​code>​ 
  
-Now create a virtual environment and activate it. Please note that we are using the variable ''​PYTHON_VENVS''​ here. This is the place where the virtual environment will be created. So before executing the following code assign it a value, for example 
  
-  export PYTHON_VENVS=${HOME}+====== Interactive ======
  
-The above is just an example. You should set ''​PYTHON_VENVS''​ to any path you want your virtual environments to live in. Putting them directly in your home is a bad idea... +This is a tutorial for running some interactive examplesDo not follow this if you just want to install orocos-kdl.
- +
-Also note that the environment variable ''​VIRTUAL_ENV''​ only exists ​if you are inside an activated virtual environment. In this particular case, it points to ''​${PYTHON_VENVS}/​arcos''​ +
- +
-<code bash> +
-  cd PYTHON_VENV +
-  virtualenv --python=python2 arcos +
-  cd arcos +
-  source bin/​activate +
-  mkdir src +
-  mkdir DIR +
-  export PREFIX=${VIRTUAL_ENV}/​DIR/​kdl +
-  cd src +
-  git clone https://​gitlab.com/​arcoslab/​orocos-kdl.git  +
-  cd orocos-kdl +
-  make install-python +
-   +
-</​code>​ +
-   +
-   +
-====== Installing from Master ====== +
- +
-It is also possible ​to install orocos-kdl ​from master and have access to their latest improvements. If you already folloed the instructions above, you don't have to follow these ones.  +
- +
- +
-  cd ~/​local/​src/​ +
-  git clone https://​github.com/​orocos/​orocos_kinematics_dynamics.git +
-  cd orocos_kinematics_dynamics/​orocos_kdl +
-  mkdir build +
-  cd build +
-  ccmake .. +
-   +
-This will configure the Cmake environment to build orocos-kdl. Select ~/​local/​DIR/​orocos_kdl/​ as the installation directory. And make sure that the correct eigen3 dir is found. To configure press '​c',​ and to generate presss '​g'​. +
- +
-Once generated:​ +
- +
-  make -j8 +
-  make install +
-  cd ~/​local/​DIR/​ +
-  xstow orocos_kdl +
-   +
-Now we need to install the python bidings. +
- +
-  cd ~/​local/​src/​orocos_kinematics_dynamics/​python_orocos_kdl/​ +
-  mkdir build +
-  cd build +
-  ccmake .. +
-   +
-Select ~/​local/​DIR/​py_kdl as the installation directory. You should make sure that orocos is using the correct python interpreter,​ if the default of your system is Python3, then make sure that it is looking for Python3. It may be required to toggle advanced options for that (press '​t'​). Generate the make files +
- +
-  make +
-  make install +
-  cd ~/​local/​DIR/​ +
-  xstow py_kdl +
-   +
-Now, for a very Quick test, open a python interpreter and import PyKDL, if you should not receive error messages. +
- +
-  ipython +
-  import PyKDL +
- +
- +
-====== Interactive ======+
  
 If you want to play with kinematic chains and visualize them in real time, do the following: If you want to play with kinematic chains and visualize them in real time, do the following:
Line 95: Line 29:
 cd local/​src/​pyrovito/​examples cd local/​src/​pyrovito/​examples
 ipython ipython
 +</​code>​
 +
 +once you are in IPython:
 +
 +<code python>
 +import numpy as np
 +import iexample as ix
 +import json
 +
 +# load the kinematic configurations
 +with open("​kinematics_conf.json",​ "​r"​) as conf_file:
 +    conf = json.load(conf_file)
 +    kuka = conf["​kuka"​]
 +    simple = conf["​simple"​]
 +
 +# start the handler
 +handler = ix.InteractiveHandler()
 +
 +# Create a tiny box
 +box = handler.create_object("​box",​ scale=[0.1, 0.1, 0.1])
 +
 +# Create the kuka arm
 +arm = handler.create_chain(kuka)
 +
 +box.update_twist(np.array([0.0,​ 0.0, 0.0, 0.0, 0.0, 2.0]))
 +
  
 </​code>​ </​code>​
  • tutorials/installing_orocos_kdl_in_debian.txt
  • Last modified: 2019/10/09 13:08
  • by dgarcia