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AdaptiveCollisionHand-Code-Install

Installation instructions

Overview

All the necessary executables for running the experiment are provided in the 'code/bin/' folder. Below follows the steps for installing the required shared libraries on a "clean" Ubuntu machine (see versions tested above). Where installs of Ubuntu packages are involved, please make sure the version of the package you are installing corresponds with the requirements. Please note that all the executables will also run on a Virtual Machine (VM), but that the SpaceNavigator input device may not.

Requirements

CMake
ACE
Boost, version 1.40
YARP, version 2.3.14
OpenRAVE, revision 2161
Spacenav, version 0.5

Installing CMake

sudo apt-get install cmake

Installing ACE

sudo apt-get install libace-dev

Installing Boost

sudo apt-get install libboost-all-dev

Installing YARP

Get the source for the above version from the website, save the content of the tarball and go to the base directory (with a CMakeLists.txt file). Then follow these instructions to build and install YARP:

mkdir build
cd build
cmake ..
make 
sudo make install

Installing OpenRAVE

This will put the 'trunk' directory of the OpenRAVE Subverson repository for the given revision in a folder called 'openrave' in the current location:

sudo apt-get install libqt4-dev qt4-dev-tools libxml2-dev libode-dev
sudo apt-get install libsoqt4-dev libcoin60-dev 
svn co -r 2161 https://openrave.svn.sourceforge.net/svnroot/openrave/trunk openrave

Then go to the base directory (with a CMakeLists.txt file), and follow the same procedure as for YARP to build and install OpenRAVE.

Installing Spacenav

Get the given version from the website, save the content of the tarball and go to the base directory (with a 'configure' file). Then follow these instructions to build and install Spacenav:

./configure
make
sudo make install

Linking with included shared libraries

Two shared libraries have been included in the 'third_party_lib' ('third_party_lib-64' for 64 bit) folder, both used by the executable 'main_uci_proximity_neural' and OROCOS KDL by the 'exp_openrave_driver' executable. See list below:

Flood, version 3
OROCOS KDL, version 1.0.2

To be able to use these shared libraries, they must be found by the program loader. This can for example be achieved (temporarily) by adding the directory where they are located to the 'LD_LIBRARY_PATH' environment variable. For the same terminal window/tab where later the executable is to be launched. See below:

export LD_LIBRARY_PATH=your_third_party_lib_directory_here

Finally, see [AdaptiveCollisionHand-Code-Startup] for instructions on how to start up the experiment.

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