Abstract: Doing settings of installation is always a pain. My new class in motion planning requires us to install OpenRave 0.9 on Ubuntu 14.04 but unfortunately, there is no PPA for 0.9 version so that we need to compile it by our hands. I've spent a day to solve the dependencies problem and now share with you to make your life easier. Please contact me if any mistake I made below.

[For Chinese Version Visit Here][1]

1. Add Package Source

Because some package we need aren't in the default source list, so add the source addresses by opening sudo gedit /etc/apt/source.list.

Adding these two lines to the end:

deb http://ppa.launchpad.net/openrave/testing/ubuntu trusty main
deb-src http://ppa.launchpad.net/openrave/testing/ubuntu trusty main

Dont forget to sudo apt-get update the list.

2. Dependencies Step

This step will bring us some useful packages, I combines them all into one command, be careful with copy and paste.

sudo apt-get install libsoqt4-dev libsoqt-dev-common libopenscenegraph-dev liblapack-dev libpcre++-dev libode-dev libbullet-dev libboost-all-dev libxml2-dev collada-dom2.4-dp*

3.Tools

sudo apt-get install cmake g++ git qt4-dev-tools zlib-bin
sudo apt-get install ipython python-dev python-h5py python-numpy python-scipy python-sympy

4.Building from source

Download the 0.9 version OpenRave

git clone --branch latest_stable https://github.com/rdiankov/openrave.git

cd openrave
mkdir build
cd build
cmake ..
make
sudo make install

Running the software

Finally, you will need to add OpenRAVE to your Python path, e.g. by putting the following lines in your .bashrc or .zshrc:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$(openrave-config --python-dir)/openravepy/_openravepy_
export PYTHONPATH=$PYTHONPATH:$(openrave-config --python-dir)

You could always go to /usr/local/lib/python2.7/dist- packages/openravepy/_openravepy_0_9/examples and run the examples directly.

Check the examples by

openrave.py --example graspplanning

Reference: https://scaron.info/teaching/installing-openrave-on-ubuntu-14.04.html

声明：本文章为原创，虽然大部分代码是收集过来的，但是本人按照一定的顺序重新调整和测试并在 Parelles Desktop 上安装成功。引用请注明出处。用英文写作是为了通用性考虑。
[1]: http://segmentfault.com/a/1190000004390461