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personalrobotics / or_trajopt

OpenRAVE plugin to expose TrajOpt code as an OpenRAVE planner
BSD 3-Clause "New" or "Revised" License
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or_trajopt

OpenRAVE prpy bindings for TrajOpt.

This plugin downloads and builds TrajOpt from source and creates a Python wrapper that interfaces it with the prpy planning API.

All of the normal TrajOpt python bindings are also available when this package is included in a catkin workspace.

Dependencies

$ sudo apt-get install libopenscenegraph-dev cmake libboost-all-dev libeigen3-dev python-numpy

(See http://rll.berkeley.edu/trajopt/doc/sphinx_build/html/install.html#dependencies)

Known Issues

OpenSceneGraph issue in Parallels VM

You will likely receive several "undefined reference to glXCreateGLXPbufferSGIX" linking errors when building TrajOpt inside a Parallels virtual machine. This is known issue that results from OpenSceneGraph using a deprecated OpenGL command that is not implemented by Parallels. You can work around this issue by building OpenSceneGraph from source the GLX_SGIX_pbuffer pre-processor define #undefed.

If you are on Ubuntu, you can easily build a patched version of OpenSceneGraph using git-buildpackage. To do so, run:

$ git clone https://github.com/mkoval/openscenegraph-release.git
$ cd openscenegraph-release
$ gbp buildpackage --git-debian-branch=master -uc -us

This will produce several .deb packages in the parent directory. You can install these Debian packages using your favorite installation method (gdebi, dpkg -i, etc).

License

See LICENSE.txt.

Contributors