Robot control, planning and learning framework.

Golem packages:

Golem major dependencies:

This is an example installation on Ubuntu 16.04.06 LTS.

Update package database.

• sudo apt-get update

Install essential c++ development packages.

• sudo apt-get install build-essential cmake-qt-gui git

Install mandatory dependencies.

• sudo apt-get install libpopt-dev zlib1g-dev libxmu-dev libxi-dev libproj-dev libboost-dev libexpat-dev freeglut3-dev libpcl-dev

Install OpenCV 2.4.X

• sudo apt-get install libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
• sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev libjasper-dev
• wget http://downloads.sourceforge.net/project/opencvlibrary/opencv-unix/2.4.13/opencv-2.4.13.zip
• unzip opencv-2.4.13.zip
• cd opencv-2.4.13
• mkdir build
• cd build
• cmake -G "Unix Makefiles" -D CMAKE_CXX_COMPILER=/usr/bin/g++ CMAKE_C_COMPILER=/usr/bin/gcc -D CUDA_GENERATION=Auto -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D INSTALL_C_EXAMPLES=OFF -D INSTALL_PYTHON_EXAMPLES=OFF -D BUILD_EXAMPLES=OFF -D WITH_QT=OFF -D WITH_OPENGL=ON -D BUILD_FAT_JAVA_LIB=ON -D INSTALL_TO_MANGLED_PATHS=ON -D INSTALL_CREATE_DISTRIB=ON -D INSTALL_TESTS=OFF -D ENABLE_FAST_MATH=ON -D WITH_IMAGEIO=ON -D BUILD_SHARED_LIBS=OFF -D WITH_GSTREAMER=ON ..
• sudo make install -j16

Install optional dependencies (Optional).

• NVIDIA Physx SDK 2.8.* . Download and install PhysX from NVIDIA site: unpack *.deb files and run sudo dpkg -i libphysx*.deb.
• Tiny Interface (using ZeroC Ice). Run sudo apt-get install ice35-translators libzeroc-ice35-dev

Create project workspace.

• mkdir Projects
• cd Projects

Download Golem.

• mkdir Golem
• git clone https://github.com/RobotsLab/Golem Golem

Configure Golem (without optional dependencies).

• cd Golem
• mkdir build
• cd build
• cmake -G "Unix Makefiles" -D CMAKE_CXX_COMPILER=/usr/bin/g++ CMAKE_C_COMPILER=/usr/bin/gcc -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..

Build and install Golem.

• sudo make install -j16

Notes

• Make sure that the system is informed about locations of libraries, which are controlled by system variable LD_LIBRARY_PATH. For example if CMAKE_INSTALL_PREFIX is set to /usr/local, then LD_LIBRARY_PATH must contain /usr/local/bin. Open bash config gedit ~/.bashrc, add at the end of the file export LD_LIBRARY_PATH=/usr/local/bin:${LD_LIBRARY_PATH}, then update source ~/.bashrc.
• The default xml configuration files of Golem applications assume that they are all in the same working application directory together with shared Golem libraries and corresponding xml files. By default it is a temporary location of files during build (see Ubuntu installation -> Configure), as well as the directory for executables pointed by CMAKE_INSTALL_PREFIX (typically /usr/local/bin).
• In some hardware and software configurations (e.g. in virtual machines) direct OpenGL rendering may need to be disabled. Open bash config gedit ~/.bashrc, add at the end of the file export LIBGL_ALWAYS_INDIRECT=yes, then update source ~/.bashrc.
• When operating real robots, all applications should be launched as root to allow runnig the robot drivers' threads in a real-time priority mode.
• Some Golem applications require write permissions to the currunt directory.

Update library search path

• export LD_LIBRARY_PATH=/usr/local/bin:${LD_LIBRARY_PATH}

Golem Grasp application.

• GolemAppGrasp /usr/local/bin/GolemAppGrasp_RobotBoris.xml GolemAppGrasp.log stdout

Golem Grasp Neural Network client.

• GolemAppGrasp /usr/local/bin/GolemAppGrasp_RobotBorisNNLearning.xml GolemAppGrasp.log stdout
• Press R then G in the OpenGL window to run the client.