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--- tutorials:installing_orocos_kdl_in_debian [2018/10/01 18:56] – [Installing Master] dgarcia
+++ tutorials:installing_orocos_kdl_in_debian [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
 ====== Installing Orocos KDL in Debian ======
+**WARNING**: This tutorial will soon be deprecated because we are going to migrate to [[tutorials:arcos_kdl|ARCOS-KDL]].
   * Set a xstow environment [[using_xstow_for_local_installations|Using xstow for local installations]]
+  * Orocos-KDL needs **gcc 8** to compile. Please make sure that you have **gcc 8**.
   * Download configure and compile arcoslab version of orocos-kdl:
   cd ~/local/src
-  git clone https://github.com/arcoslab/orocos-kdl.git
+  git clone https://gitlab.com/arcoslab/orocos-kdl.git
   cd orocos-kdl
   make install-python
-===== Installing Master =====
-It is also possible to install orocos-kdl from master and have access to their latest improvements.
+====== Interactive ======
-  cd ~/local/src/
+This is a tutorial for running some interactive examples. Do not follow this if you just want to install orocos-kdl.
-  git clone git@gitlab.com:arcoslab/orocos-kdl.git
-  cd orocos_kinematics_dynamics/orocos_kdl
-  mkdir build
-  cd build
-  ccmake ..
-This will configure the Cmake environment to build orocos-kdl. Select ~/local/DIR/orocos_kdl/ as the installation directory. And make sure that the correct eigen3 dir is found. To configure press 'c', and to generate presss 'g'.
-Once generated:
+If you want to play with kinematic chains and visualize them in real time, do the following:
-  make -j8
+  * Install the Humanoid robot Simulator
-  make install
+  * Checkout examples branch in pyrotivo
-  cd ~/local/DIR/
+  * Reinstall pyrovito
-  xstow orocos_kdl
+  * in a shell execute the yarp server
+  * in another shell execute pyrovito
-Now we need to install the python bidings.
+  * open another shell:
-  cd ~/local/src/orocos_kinematics_dynamics/python_orocos_kdl/
+<code bash>
-  mkdir build
+cd local/src/pyrovito/examples
-  cd build
+ipython
-  ccmake ..
+</code>
-Select ~/local/DIR/py_kdl as the installation directory. You should make sure that orocos is using the correct python interpreter, if the default of your system is Python3, then make sure that it is looking for Python3. It may be required to toggle advanced options for that (press 't'). Generate the make files
-  make
+once you are in IPython:
-  make install
-  cd ~/local/DIR/
+<code python>
-  xstow py_kdl
+import numpy as np
+import iexample as ix
-Now, for a very Quick test, open a python interpreter and import PyKDL, if you should not receive error messages.
+import json
+# load the kinematic configurations
+with open("kinematics_conf.json", "r") as conf_file:
+    conf = json.load(conf_file)
+    kuka = conf["kuka"]
+    simple = conf["simple"]
+# start the handler
+handler = ix.InteractiveHandler()
+# Create a tiny box
+box = handler.create_object("box", scale=[0.1, 0.1, 0.1])
+# Create the kuka arm
+arm = handler.create_chain(kuka)
+box.update_twist(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 2.0]))
-  ipython
-  import PyKDL
+</code>