UPMC iCub project/Installing ORCISIR

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About ORCISIR

ORCISIR is a framework for whole-body control of multibody systems developed in ISIR. It is based on ORC, a framework developed by CEA-list within the XDE for Optimal Control of Robots (ORC).

For any problems with the installation ask Serena Ivaldi, Joseph Salini, Sovannara Hak.

Preparation

Linux

We hereby assume you have Ubuntu 12.04.

Dependencies:

Installation

Linux

Go in the directory where you put ORCISIR (for example /home/icub/software/src/orcisir_ISIRController), let us call it $ORCISIR_ROOT. The installation is the usual:

  cd $ORCISIR_ROOT
  mkdir build
  cd build
  ccmake ..
  make
  make install

If the installation is successful, ORCISIR will install

  lib/pkgconfig/orcisir_ISIRController.pc
  lib/liborcisir_ISIRController.so
  include/orcisir/<HEADER_FILES_>

In our case, we install everything as usual in /home/icub/software, so we have:

  /home/icub/software/lib/pkgconfig/orcisir_ISIRController.pc
  /home/icub/software/lib/liborcisir_ISIRController.so
  /home/icub/software/include/orcisir

To verify that the installation is successful, go into the directory "examples", compile and execute "test_3T":

  cd $ORCISIR_ROOT/examples/test_3T
  mkdir build
  cd build
  ccmake ..
  make 
  ./test_3T

If the program executes successfully and outputs the simulation then it's ok. Note that the program has only text-output, no graphics.