Install instructions
These install instructions are focused on Debian/Ubuntu systems.
Shared instructions
1.
Follow the shared instructions of the C++ library from orocos_kdl/INSTALL.md
2.
Depending on your python version install the future and psutil module
•
Python 2: sudo apt-get install python-psutil python-future
•
Python 3: sudo apt-get install python3-psutil python3-future
3.
(Optional) Install Sphinx to generate API-documentation
•
Python 2: sudo apt-get install python-sphinx
•
Python 3: sudo apt-get install python3-sphinx
Compilation
With catkin
1.
Clone the repository inside the workspace
2.
3.
Build with your catkin tool of preference. This will also build the C++ library
4.
Source the workspace
5.
Without catkin
1.
Clone the repository where you want
2.
3.
Follow the mandatory instruction to compile the C++ library from orocos_kdl/INSTALL.md
4.
Create a new build folder (it is always better not to build in the source folder): mkdir build
5.
Go to the build folder cd build
6.
Execute cmake: cmake ..
•
(Optional) Adapt CMAKE_INSTALL_PREFIX to the desired installation directory
•
(Optional) To change the build type, add: DCMAKE_BUILD_TYPE=<DESIRED_BUILD_TYPE>
•
(Optional) To change the python version (default=2), set ROS_PYTHON_VERSION environment variable to either 2 or 3.
7.
Compile: make
8.
Install the python bindings: sudo make install
9.
Make sure LD_LIBRARY_PATH is set correctly: export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib. Add this also to your .bashrc.
10.
Execute ldconfig: sudo ldconfig
11.
(Optional) Execute tests:
•
Python 2: python2 ../tests/PyKDLtest.py
•
Python 3: python3 ../tests/PyKDLtest.py
12.
(Optional) To create the API-documentation: sphinx-build ../doc docs. The API-documentation will be generated at <builddir>/docs.
To uninstall the python bindings: sudo make uninstall