README.md 2.63 KB
Newer Older
Justin Carpentier's avatar
Justin Carpentier committed
1
Pinocchio
Nicolas Mansard's avatar
IVIGIT.    
Nicolas Mansard committed
2
===========
Olivier Stasse's avatar
Olivier Stasse committed
3

4
[![License LGPL 3](https://img.shields.io/badge/license-LGPLv3-green.svg)](http://www.gnu.org/licenses/lgpl-3.0.txt)
Olivier Stasse's avatar
Olivier Stasse committed
5
[![Build Status](https://travis-ci.org/stack-of-tasks/pinocchio.svg?branch=devel)](https://travis-ci.org/stack-of-tasks/pinocchio)
6
[![Coverage Status](https://coveralls.io/repos/github/stack-of-tasks/pinocchio/badge.svg?branch=devel)](https://coveralls.io/github/stack-of-tasks/pinocchio?branch=devel)
7
[![Coverity Scan Build Status](https://scan.coverity.com/projects/7824/badge.svg)](https://scan.coverity.com/projects/pinocchio)
Nicolas Mansard's avatar
Nicolas Mansard committed
8

9
10
11
12
13
14
15
16
17
18
**Warning:** This repository contains [Git
submodules][git-submodules]. Please clone this repository using the
`git clone --recursive` command. If you already have cloned the
repository, you can run `git submodule init && git submodule update`
to retrieve the submodules.


For general information about the project, please refer to its
homepage: http://stack-of-tasks.github.io/pinocchio/

Nicolas Mansard's avatar
IVIGIT.    
Nicolas Mansard committed
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
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

Justin Carpentier's avatar
Justin Carpentier committed
36
The Pinocchio software depends on several packages which
Nicolas Mansard's avatar
IVIGIT.    
Nicolas Mansard committed
37
38
39
have to be available on your machine.

 - Libraries:
Justin Carpentier's avatar
Justin Carpentier committed
40
   - eigen3 (version >= 3.0.5)
Justin Carpentier's avatar
Justin Carpentier committed
41
42
43
44
   - boost unit_test_framework filesystem 
   - Optional:
      - urdfdom (version >= 0.3.0)
      - LUA (version == 5.1)
Nicolas Mansard's avatar
IVIGIT.    
Nicolas Mansard committed
45
46
47
48
 - System tools:
   - CMake (>=2.6)
   - pkg-config
   - usual compilation tools (GCC/G++, make, etc.)
Justin Carpentier's avatar
Justin Carpentier committed
49
50
 - Bindings:
   - Python: Python 2.7 + Numpy + Boost python + EigenPy (https://github.com/stack-of-tasks/eigenpy.git)
Justin Carpentier's avatar
Justin Carpentier committed
51
52
53
54
55
 
### Install standalone urdfdom

In order to read urdf files (see http://wiki.ros.org/urdf for the description), one haves 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.

Justin Carpentier's avatar
Justin Carpentier committed
56
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 :
Justin Carpentier's avatar
Justin Carpentier committed
57
58
59
60
61
  - 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 apply 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