This document contains the build and installation instructions for the Generic Robotics Library. While there is a lot of functionality supported by grl, most dependencies are optional. A complete list of dependencies and their categories can be found in the BasisProject.cmake file.
Automated setup scripts that put code in ~/src can be found in the robotics_setup repository.
This software has an optional runtime dependency on V-REP and ROS, independently or together.
This will do an automated build the minimal KUKA Driver code in the ~/src folder.
It supports use with ROS indigo and kinetic, or direct use as a library.
ROS Users:
We recommend installing iiwa_stack in addition to grl for full ROS integration.
Also take a look at costar_stack which uses grl and provides full blown system integration tools for many typical robot arm tasks such as pick and place operations.
Install Steps:
- Setup git as explained in these instructions
- Enable connecting to github with ssh as explained in these instructions
- Run the following in terminal:
# first prevent [python permission errors](http://stackoverflow.com/a/40767020/99379)
sudo chown -R $USER /usr/local/lib/python2.7
cd ~
mkdir src
cd src
git clone https://github.com/ahundt/robotics_setup.git
cd robotics_setup
./grl_kuka.sh- Follow the iiwaKukaRobotSetup Tutorial for grl
- You should now have the KUKA FRI zip in
~/src/grl/data/FRI-Client-SDK_Cpp.zip. - Re-run
./grl_kuka.shto build with FRI.
You're Done!
These instructions are for manually installing the ubuntu 14.04 package dependencies for grl.
sudo apt-get install libtool pkg-config build-essential autoconf automake
sudo apt-get install libboost-all-dev libeigen3-dev libopencv-dev
ceres-solver setup
# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (needed for grl, optional for ceres)
# - However, if you want to build Ceres as a *shared* library (recommended for grl), you must
# add the following PPA:
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev
# - If you want to build Ceres as a *static* library
# you can use the SuiteSparse package in the main Ubuntu package
# repository:
sudo apt-get install libsuitesparse-dev
clone, build and install ceres:
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir build
cd build
cmake ..
sudo make install
cd ../..
flatbuffers setup
git clone https://github.com/google/flatbuffers.git
cd flatbuffers
mkdir build
cd build
cmake ..
sudo make install
cd ../..
git clone https://github.com/ahundt/grl.git
cd grl
mkdir build
cd build
cmake ..
sudo make install
cd ../..
The easy installation instructions work on OS X via homebrew and Ubuntu 14.04 Linux via Linuxbrew.
ROS users:
Install ROS before following these instructions.
Linux users:
Please note that on Linux these instructions will build many dependencies from source
and install them in ~/.linuxbrew, so if you need to use specific versions that are
already installed these instructions may not work for you! ROS users, this may mean you!
Also on linux you may want to use brew install libname --env=inherit
so it uses your native environment variable configuration.
Setup Instructions:
- Setup brew for OS X or Linux
- Homebrew OS X setup instructions or paste
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"into the terminal - Linuxbrew setup instructions, or paste
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Linuxbrew/linuxbrew/go/install)"into the terminal
- Homebrew OS X setup instructions or paste
- Linux only - add linuxbrew to your
~/.bashrcor ~/.zshrc: export PKG_CONFIG_PATH="/usr/bin/pkg-config:$HOME/.linuxbrew/bin/pkg-config" export PKG_CONFIG_LIBDIR="/usr/lib/pkgconfig:$HOME/.linuxbrew/lib/pkgconfig" export PATH="$HOME/.linuxbrew/bin:$PATH" export MANPATH="$HOME/.linuxbrew/share/man:$MANPATH" export INFOPATH="$HOME/.linuxbrew/share/info:$INFOPATH" - Check that it is setup correctly
brew helpshould output the homebrew help. - OS X only - install Homebrew Cask
brew install caskroom/cask/brew-cask
brew tap homebrew/science # [homebrew-science](http://brew.sh/homebrew-science/) contains many scientific libraries, such as OpenCV and pcl
brew tap homebrew/robotics # [homebrew-robotics](https://github.com/ahundt/homebrew-robotics) contains software packages needed by grl.
brew install grl
Done! (unless you need kuka drivers)
There are a few additional steps to get the KUKA iiwa drivers up and running. First run the following:
brew uninstall grl # we need to do some manual steps so remove the auto installed version (dependencies stay)
mkdir -p ~/local/src
cd ~/local/src
git clone https://github.com/ahundt/grl.git
cd grl
The grl code will now be in ~/local/src/grl.
Now follow the instructions in:
ROS Users:
We recommend installing iiwa_stack in addition to grl for full ROS integration.
Also take a look at costar_stack which is integrated with grl and provides full blown system integration tools for many typical robot arm tasks such as pick and place operations.
Many dependencies are optional based on the functionality you wish to use. Details about what dependencies are for what functionality are below this table.
While there is a lot of functionality supported by grl, most dependencies are optional. A complete list of dependencies and their categories can be found in the BasisProject.cmake file.
| Package | Version | Language | Description |
|---|---|---|---|
| Sunrise Connectivity Suite | >= 3.0 | Java | Provided by KUKA, Eclipse based Java platform |
| Fast Robot Interface SDK | >= 3.0 | C++ | Provided by KUKA, drivers for fast robot control |
| CMake BASIS | >= 3.2 | C++ | Meta-project which makes it easy to create sharable software and libraries that work together. |
| Boost | >= 1.54.0 | C++ | Collection of general use C++ libraries. |
| Eigen | >= 3.2 | C++ | C++ template library for linear algebra. |
| Google Flatbuffers | >= 1.7 | Java/C++ | High Performance Message Serialization Library |
| spdlog | >= 0.11 | C++ | Super Fast C++ Logging Library |
| V-REP | >= 3.2 | C++ | Recommended robot simulation library (Optional) |
Optional unless you wish to perform Hand Eye Calibration.
| Package | Version | Language | Description |
|---|---|---|---|
| CAMODOCAL | ? | C++ | CamOdoCal: Automatic Intrinsic and Extrinsic Calibration |
| ceres-solver | >= 1.11 | C++ | Nonlinear Optimization library developed by google |
| BLAS | ? | ? | Standard linear algebra APIs, see ceres-solver install instructions |
| gtest | >= 1.7.0 | C++ | Google's C++ test framework used by ceres-solver |
| glog | >= 0.3.4 | C++ | Google's C++ logging framework used by ceres-solver |
Standalone driver C++ dependencies:
Threads # pthreads, see CMake documentation
ZeroMQ # zeromq.org https://github.com/zeromq/libzmq
AZMQ # https://github.com/zeromq/azmq
FlatBuffers # google flatbuffers https://github.com/google/flatbuffers
Boost{program_options,filesystem,unit_test_framework,system,regex,coroutine,log,chrono}
Nanopb # Used in Kuka Fast Robot Interface (comes in FRI zip file)
KUKA software
You must follow the instructions at https://ahundt.github.io/grl/howto/iiwaKukaRobotSetup.html to correctly setup the software KUKA provides.
Optional
ROS # for ROS driver http://www.ros.org/
V-REP # for V-REP driver http://coppeliarobotics.com
Eigen3 # Linear Algebra eigen.tuxfamily.com
CAMODOCAL # used for hand eye calibration plugin https://github.com/hengli/camodocal
Ceres # http://ceres-solver.org/ used in arm hand eye calibration
TRTK # Transform Registration Toolkit, for pivot calibration https://github.com/RWTHmediTEC/TRTK
Constrained Optimization based arm path planning dependencies:
CisstNetlib # https://github.com/jhu-cisst/cisstNetlib used for inverse kinematics plugin
cisst{cisstNumerical,cisstOSAbstraction,cisstVector,cisstCommon} # https://github.com/jhu-cisst/cisst used for inverse kinematics plugin
sawConstraintController # used for inverse kinematics plugin https://github.com/jhu-saw/sawConstraintController
PCL # point cloud library, for vision components >=1.7 recommended https://github.com/PointCloudLibrary/pcl
freenect2 # kinect v2 drivers, for vision components https://github.com/OpenKinect/libfreenect2
Not yet fully implemented/tested.
ur_modern_driver # Universal Robots Arm Device Driver https://github.com/ThomasTimm/ur_modern_driver/
Here are some extra notes if you're planning to install dependencies manually.
Required dependencies
BLAS (Ubuntu package: libblas-dev) Boost >= 1.4.0 (Ubuntu package: libboost-all-dev) CUDA >= 4.2 Eigen3 (Ubuntu package: libeigen3-dev) glog OpenCV >= 2.4.6 SuiteSparse >= 4.2.1 # note CERES dependencies above Optional dependencies
GTest OpenMP
you probably don't want to follow these steps
These are generic instructions for libraries that use cmake-basis. I suggest following the easy install instructions instead!
For general build and installation instructions which apply to any software developed on top of the CMake Build system And Software Implementation Standard (BASIS), please refer to the respective BASIS Installation Guide which is part of the CMake BASIS documentation.
The common steps to build, test, and install software based on CMake, including this software, are as follows:
- Extract source files.
- Create build directory and change to it.
- Run CMake to configure the build tree.
- Build the software using selected build tool.
- Test the built software.
- Install the built files.
On Unix-like systems with GNU Make as build tool, these build steps can be summarized by the following sequence of commands executed in a shell, where $package and $version are shell variables which represent the name of this package and the obtained version of the software.
$ tar xzf $package-$version-source.tar.gz
$ mkdir $package-$version-build
$ cd $package-$version-build
$ ccmake -DBASIS_DIR:PATH=/path/to/basis ../$package-$version-source
| Press 'c' to configure the build system and 'e' to ignore warnings.
| Set CMAKE_INSTALL_PREFIX and other CMake variables and options.
| Continue pressing 'c' until the option 'g' is available.
| Then press 'g' to generate the configuration files for GNU Make.
$ make
$ make test (optional)
$ make install (optional)
An exhaustive list of minimum build dependencies, including the build tools along detailed step-by-step build, test, and installation instructions can be found in the corresponding "Building the Software from Sources" section of the BASIS how-to guide on software installation.
Please refer to this guide first if you are uncertain about above steps or have problems to build, test, or install the software on your system. If this guide does not help you resolve the issue, please contact Andrew Hundt ATHundt@gmail.com. In case of failing tests, please attach the output of the following command:
$ ctest -V >& test.log
In the following, only package-specific CMake settings available to configure the build and installation of this software are documented.
Please see the corresponding section of the BASIS Installation Guide.
(no additional CMake options considered by this package)
(no additional advanced CMake options considered by this package)