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INSTALL
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INSTALL
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Installation Instructions
*************************
Prerequisites:
1) hubo-ach (https://github.com/hubo/hubo-ach)
2) RobotKin (https://github.com/mxgrey/RobotKin)
3) drchubo-v2.urdf in /etc/hubo-ach/
0. This package uses cmake. If you're not sure whether you have cmake, put the following
into the terminal:
$ sudo apt-get update
$ sudo apt-get upgrade
$ sudo apt-get install cmake
It also depends on the Eigen C++ Library 3.0. Get it with the following command on Ubuntu:
$ sudo apt-get install libeigen3-dev
____________________________________________________________
1. Now use cmake to generate a Makefile:
In the top directory (ie. hubo-motion-rt) run the following commands into
the terminal:
(Make a build directory for the binaries to go in, if it doesn't already exist)
$ mkdir build
(Navigate to the newly created build directory)
$ cd build
(Run cmake to configure the project and create a Makefile)
$ cmake ..
This should generate a Makefile. You can use
$ ls
from the terminal to check that "Makefile" exists.
____________________________________________________________
2. Now you're ready to compile. Try the following:
$ make
(If an error occurs here, please contact [email protected])
Possible issues:
-- Cannot link to libhuboparams.so or error: hubo-jointparams.h: No such file or directory:
Make sure to install the latest version of hubo-ach (which means running "$ git pull",
"$ autoreconf -i", "$ ./configure" and "$ sudo make install" in your hubo-ach directory.
-- error: eigen3/Eigen/Core or eigen3/Eigen/Geometry: No such file or directory:
Make sure you have installed eigen3 as instructed above and not eigen2.
$ sudo make install
(This will make the package system-wide and install the libraries)
____________________________________________________________
3. Everything should be ready to go.
If you try running the software according to the instructions in USAGE and you get something like
the following error:
"libhuboparams.so.x.x.x cannot be found" or "libdaemonizer.so.x.x.x cannot be found"
then the libraries were installed to a directory which is not in your ldconfig path. Feel free to
contact [email protected] to figure out how to resolve the issue.
____________________________________________________________
4. If any problems not mentioned here occur or if you have any confusion or issues with installation
or compilation whatsoever, please do not hesitate to contact the author.