Mastering ROS for Robotics Programming - Second Edition

Installing OpenRave on Ubuntu 16.04

Installing OpenRave on the latest Ubuntu is a tedious task. We will install OpenRave from the source itself, using the following procedure:

1. Clone the source code in the preferred folder:

$ git clone --branch latest_stable https://github.com/rdiankov/openrave.git

2. For compiling the source code, we need to install the following packages:

Install boost, Python development packages, and NumPy:

$ sudo apt-get install libboost-python-dev$ python python-dev python-numpy ipython python-pip

3. Install scientific Python and its package to handle symbolic mathematics. Note that the suggested version to work with OpenRave and Ubuntu 16.04 is v0.7.1:

$ sudo apt-get install python-scipy$ pip install -v sympy==0.7.1 ...