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Graphical Interface for Pinocchio and hpp

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Setup

To compile this package, it is recommended to create a separate build directory:

mkdir _build && cd _build
cmake [OPTIONS] ..
make install

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

Dependencies

The Graphical Interface software depends on several packages which have to be available on your machine.

  • Libraries:
    • urdfdom (version >= 0.3.0)
    • openscenegraph (version >= 3.2.0)
  • System tools:
    • CMake (>=2.6)
    • pkg-config
    • usual compilation tools (GCC/G++, make, etc.)

Install standalone urdfdom

In order to read urdf files (see http://wiki.ros.org/urdf for the description), one has to install the urdfdom package which can come either along ROS library or be installed as a standalone library. Next section describes the second procedure.

urdfdom depends on both console_bridge and urdfdom_headers. The installation of both dependencies can be done with the following command lines in a terminal :

git clone git://github.com/ros/console_bridge.git && cd console_bridge
mkdir build && cd build
cmake ..
make
sudo make install

git clone git://github.com/ros/urdfdom_headers && cd urdfdom_headers
mkdir build && cd build
cmake ..
make
sudo make install

Finally, you just need to run the following command line to install urdfdom library :

git clone git://github.com/ros/urdfdom && cd urdfdom
mkdir build && cd build
cmake ..
make
sudo make install