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Installation

Set RobotPkg in your APT system

Ensure you have some required installation dependencies

sudo apt install -qqy lsb-release gnupg2 curl

Add robotpkg as source repository to apt:

echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list

Register the authentication certificate of robotpkg:

curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -

You need to run at least once apt update to fetch the package descriptions:

sudo apt-get update

Install the basic dependancies

# Adapt your desired python version here
sudo apt build-dep robotpkg-py38-pinocchio
sudo apt install robotpkg-py38-casadi robotpkg-py38-eigenpy python3-pip

Install python dependancies

python3 -m pip install --upgrade --user pip
python3 -m pip install --upgrade --user meshcat jupyterlab

Configure your environment

All the packages will be installed in the /opt/openrobots directory. To make use of installed libraries and programs, you must need to configure your PATH, PKG_CONFIG_PATH, PYTHONPATH and other similar environment variables to point inside this directory. For instance:

export PATH=/opt/openrobots/bin:$PATH
export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH
export PYTHONPATH=/opt/openrobots/lib/python3.8/site-packages:$PYTHONPATH # Adapt your desired python version here
export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH

You may directly add those lines to your $HOME/.bashrc for a persistent configuration.

Pinocchio

Download and compile pinocchio with the branch pinocchio3-preview.

Opencv and apriltag

Install python bindings for both libs. This will also install the .so libs themselves.

WARNING! If you have other versions of the binaries .so pre-installed, uninstall them before or use python environments to put them out of the way. This is important especially for apriltag, since the version installed here is rather old, and you might have a newer one.

python3 -m pip install opencv-python apriltag