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--- tutorials:installing_orocos_kdl_in_debian [2019/05/06 16:36] – [Installing from 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:
@@ Line 9: / Line 12: @@
   make install-python
-====== Installing inside a Python Virtual Environment ======
-**WARNING!** This is still work in progress
-First install the dependencies for making a virtualenv
-<code bash>
-  sudo apt install python-virtualenv
-</code>
-Now create a virtual environment and activate it. Please note that we are using the variable ''PYTHON_VENVS'' here. This is the place where the virtual environment will be created. So before executing the following code assign it a value, for example
-  export PYTHON_VENVS=${HOME}
+====== Interactive ======
-The above is just an example. You should set ''PYTHON_VENVS'' to any path you want your virtual environments to live in. Putting them directly in your home is a bad idea...
+This is a tutorial for running some interactive examples. Do not follow this if you just want to install orocos-kdl.
-Also note that the environment variable ''VIRTUAL_ENV'' only exists if you are inside an activated virtual environment. In this particular case, it points to ''${PYTHON_VENVS}/arcos''
+If you want to play with kinematic chains and visualize them in real time, do the following:
+  * Install the Humanoid robot Simulator
+  * Checkout examples branch in pyrotivo
+  * Reinstall pyrovito
+  * in a shell execute the yarp server
+  * in another shell execute pyrovito
+  * open another shell:
 <code bash>
-  cd PYTHON_VENV
+cd local/src/pyrovito/examples
-  virtualenv --python=python2 arcos
+ipython
-  cd arcos
-  source bin/activate
-  mkdir src
-  mkdir DIR
-  export PREFIX=${VIRTUAL_ENV}/DIR/kdl
-  cd src
-  git clone https://gitlab.com/arcoslab/orocos-kdl.git
-  cd orocos-kdl
-  make install-python
 </code>
-====== Installing from Master ======
-It is also possible to install orocos-kdl from master and have access to their latest improvements. If you already folloed the instructions above, you don't have to follow these ones.
+once you are in IPython:
+<code python>
+import numpy as np
+import iexample as ix
+import json
-  cd ~/local/src/
+# load the kinematic configurations
-  git clone https://github.com/orocos/orocos_kinematics_dynamics.git
+with open("kinematics_conf.json", "r") as conf_file:
-  cd orocos_kinematics_dynamics/orocos_kdl
+    conf = json.load(conf_file)
-  mkdir build
+    kuka = conf["kuka"]
-  cd build
+    simple = conf["simple"]
-  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:
+# start the handler
+handler = ix.InteractiveHandler()
-  make -j8
+# Create a tiny box
-  make install
+box = handler.create_object("box", scale=[0.1, 0.1, 0.1])
-  cd ~/local/DIR/
-  xstow orocos_kdl
-Now we need to install the python bidings.
-  cd ~/local/src/orocos_kinematics_dynamics/python_orocos_kdl/
+# Create the kuka arm
-  mkdir build
+arm = handler.create_chain(kuka)
-  cd build
-  ccmake ..
-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
+box.update_twist(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 2.0]))
-  make install
-  cd ~/local/DIR/
-  xstow py_kdl
-Now, for a very Quick test, open a python interpreter and import PyKDL, if you should not receive error messages.
-  ipython
-  import PyKDL
+</code>