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