Installation¶
o80 has been tested exclusively on ubuntu 20.04 and ubuntu 18.04.
From binaries¶
o80’s binaries are available only for ubuntu18.04/python3.6 and ubuntu20.04/python3.8.
To install, first select a version by visiting : http://people.tuebingen.mpg.de/mpi-is-software/o80/latest/ or http://people.tuebingen.mpg.de/mpi-is-software/o80/older/. Then, for example:
wget http://people.tuebingen.mpg.de/mpi-is-software/o80/latest/o80_ubuntu20.04_py3.8_1.0.tar.gz
tar -zxvf ./o80_ubuntu20.04_py3.8_1.0.tar.gz
sudo ./apt_dependencies
sudo ./pip3_dependencies
./configure
sudo make install
sudo ldconfig
From source¶
From tar ball¶
Select a version by visiting : http://people.tuebingen.mpg.de/mpi-is-software/o80/latest/ or http://people.tuebingen.mpg.de/mpi-is-software/o80/older/. Then, for example:
wget http://people.tuebingen.mpg.de/mpi-is-software/o80/latest/o80_source.tar.gz
tar -zxvf ./o80_source.tar.gz
sudo ./apt-dependencies
sudo ./pip3-dependencies
./configure
make
sudo make install
sudo ldconfig
Via colcon workspace¶
Colcon is the built system of ROS2. The instructions below will result in the setup of a colcon workspace. Possibly, if you would like to use o80 in a ROS2 project, you may copy the cloned packages to an existing workspace.
Adding your ssh key to github¶
See: github documentation.
All the following instructions assume your ssh key has been activated, i.e.:
# replace id_rsa by your key file name
ssh-add ~/.ssh/id_rsa
Installing the dependencies:¶
apt install -y python3-pip cmake libcereal-dev \
libboost-all-dev libgtest-dev \
libeigen3-dev libedit-dev \
libncurses5-dev freeglut3-dev \
libxmu-dev doxygen
pip3 install colcon-common-extensions treep \
fyplot pyside2 empy \
catkin-pkg sphinx breathe
Cloning the repositories¶
Creating a folder and cloning the treep configuration:
mkdir Software # you may use another folder name
cd Software
git clone git@github.com:intelligent-soft-robots/treep_isr.git
Cloning all the required repositories:
treep --clone O80
Compilation¶
cd /path/to/Software
cd workspace
colcon build
This will result in a “install” folder containing the compiled binaries
Activating the workspace¶
In each new terminal, the workspace needs to be sourced:
source /path/to/Software/install/setup.bash
Possibly, you may want to add the line above to the ~/.bashrc file (so that each new terminal source the workspace automatically).
Checking installation¶
In a python3 terminal:
import o80
Running the demos¶
The o80_example package provides usage examples of o80 running on a dummy robot.