Re: [OpenGRASP-users] Compiling OpenRAVE_Modified fails

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Hello Max,

Answering your question:

1) OpenGRASP is a toolkit that focuses on robot grasping and 
manipulation. Instead of reinvent the wheel, we are building the tools 
on top of standard and open-source software.

OpenRAVE is the base for our simulator. We want just to add new 
functionality, so basically we are adding new plugins. In the first 
stage, we developed some plugins that needed new functionality in the 
core of OpenRAVE and we didn't have the time to cope with the fast 
development of OpenRAVE, so we took one release and modified it for our 
purposes, this is the OpenRAVE modified inside OpenGRASP. Now, we want 
to use this set of plugins with the current OpenRAVE release, so I hope 
soon we will have our plugins available without a different version of 
OpenRAVE, for which we are in close collaboration with Rosen Diankov 
finding the way to merge both versions.

In summary, I suggest you to use OpenRAVE that is a great simulator with 
a very flexible design, and then you could use the plugins that will be 
available in OpenGRASP in the near future for the latest release of 
OpenRAVE.

2) In the web side we provide the models in COLLADA format. You can load 
them directly in OpenRAVE.

regards,
Beatriz

On 04/12/10 21:02, Max Argus wrote:
> I am new to OpenRAVE and OpenGRASP so while trying to orient myself somewhat.
>
> 1) To what extent are OpenRAVE and OpenRAVE_Modified different. Is
> OpenRAVE_Modified backwards compatible with OpenRAVE and could
> OpenRAVE_Modified be provided as a set of patches that can be merged
> into OpenRAVE so that changes to the OpenRAVE base could be available.
> The underlying question here is if OpenGRASP is a fork of OpenRAVE or
> just a branch that will be merged back.
>
> 2) Where could I find the geometry data for the Schunk SAH that is
> featured on the website.
>
>
> On Sat, Dec 4, 2010 at 3:48 AM, Max Argus<arg...@gm...>  wrote:
>> Hello,
>>
>> There is some difference between the OpenRAVE and the
>> OpenRAVE_Modified package that causes it to fail when trying to
>> compile qtcoinrave. The problem seems to lie in a reference to a
>> ffmpeg library. I upgraded from ffmpeg 0.6 to ffmpeg 0.6_p25767 and I
>> got the same error:
>>
>>> In file included from /usr/include/libavutil/avutil.h:96,
>>>                  from /usr/include/libavcodec/avcodec.h:31,
>>>                  from /usr/include/libavformat/avformat.h:106,
>>>                  from /home/hasimir/lang/phys/opengrasp/trunk/OpenRAVE_Modified/plugins/qtcoinrave/aviUtil.cpp:427:
>>> /usr/include/libavutil/common.h: In function 'int32_t av_clipl_int32_c(int64_t)':
>>> /usr/include/libavutil/common.h:168: error: 'UINT64_C' was not declared in this scope
>>> /home/hasimir/lang/phys/opengrasp/trunk/OpenRAVE_Modified/plugins/qtcoinrave/aviUtil.cpp: In function 'std::list<std::pair<int, std::basic_string<char, std::char_traits<char>, std::allocator<char>  >  >,>std::allocator<std::pair<int, std::basic_string<char, std::char_traits<char>, std::allocator<char>  >  >  >  >  GET_CODECS()':
>>> /home/hasimir/lang/phys/opengrasp/trunk/OpenRAVE_Modified/plugins/qtcoinrave/aviUtil.cpp:474: warning: 'first_oformat' is deprecated (declared at /usr/include/libavformat/avformat.h:908)
>>> /home/hasimir/lang/phys/opengrasp/trunk/OpenRAVE_Modified/plugins/qtcoinrave/aviUtil.cpp: In function 'bool START_AVI(const char*, double, int, int, int, int)':
>>> /home/hasimir/lang/phys/opengrasp/trunk/OpenRAVE_Modified/plugins/qtcoinrave/aviUtil.cpp:498: warning: 'first_oformat' is deprecated (declared at /usr/include/libavformat/avformat.h:908)
>>> /home/hasimir/lang/phys/opengrasp/trunk/OpenRAVE_Modified/plugins/qtcoinrave/aviUtil.cpp: In function 'bool ADD_FRAME_FROM_DIB_TO_AVI(void*)':
>>> /home/hasimir/lang/phys/opengrasp/trunk/OpenRAVE_Modified/plugins/qtcoinrave/aviUtil.cpp:606: warning: 'SwsContext* sws_getContext(int, int, PixelFormat, int, int, PixelFormat, int, SwsFilter*, SwsFilter*, const double*)' is deprecated (declared at /usr/include/libswscale/swscale.h:191)
>>> /home/hasimir/lang/phys/opengrasp/trunk/OpenRAVE_Modified/plugins/qtcoinrave/aviUtil.cpp:613: warning: 'SwsContext* sws_getContext(int, int, PixelFormat, int, int, PixelFormat, int, SwsFilter*, SwsFilter*, const double*)' is deprecated (declared at /usr/include/libswscale/swscale.h:191)
>>> make[2]: *** [plugins/qtcoinrave/CMakeFiles/qtcoinrave.dir/aviUtil.o] Error 1
>>> make[1]: *** [plugins/qtcoinrave/CMakeFiles/qtcoinrave.dir/all] Error 2
>>> make: *** [all] Error 2
>> I had a brief look at the difference between the aviUtil.cpp files in
>> OpenRAVE and OpenGrasp and I am guessing the problem lies in the
>> OpenGrasp aviUtil.cpp file not defining "__STDC_CONSTANT_MACROS"
>> which prevents the ffmpeg library from crashing. That said I don't
>> really understand either pieces of software. If this is the case could
>> the OpenGrasp copy of aviUtil.cpp simply be updated or are there any
>> dependencies that I am not aware of?
>>
>> Here is a diff between the two files.
>> 15a16,36
>>> #define __STDC_CONSTANT_MACROS
>>> #ifndef ENABLE_VIDEORECORDING
>>>
>>> #include "qtcoin.h"
>>> #include<list>
>>>
>>> // no recording
>>> bool STOP_AVI() { return false; }
>>> std::list<std::pair<int,string>  >  GET_CODECS() { return std::list<std::pair<int,string>  >(); }
>>> bool START_AVI(const char* filename, double _frameRate, int width, int height, int bits,int)
>>> {
>>>      RAVELOG_WARNA("avi recording to file %s not enabled\n", filename);
>>>      return false;
>>> }
>>> bool ADD_FRAME_FROM_DIB_TO_AVI(void* pdata)
>>> {
>>>      return false;
>>> }
>>>
>>> #else // ENABLE_VIDEORECORDING
>>>
>> 665a687,688
>>> #endif // ENABLE_VIDEORECORDING
>> BR, Max
>>
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