The best solution to install OpenRAVE today is to build it from source, which fortunately is not so difficult. The instructions in the following section are for Ubuntu 16.04 and 18.04.
First, we have to make sure that the following programs are installed on our system:
$ sudo apt-get install cmake g++ git ipython minizip python-dev python-h5py python-numpy python-scipy python-sympy qt4-dev-tools
Next, we will have to to install the following libraries from the official Ubuntu repository:
$ sudo apt-get install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libglew-dev libgsm1-dev liblapack-dev liblog4cxx-dev libmpfr-dev libode-dev libogg-dev ...