Documentation: http://rll.berkeley.edu/trajopt
Work with PCL 1.8, VTK 8.0, OSG 3.4 on Ubuntu 16.04
-
install openrave
-
install Gurobi
- Download current version gurobi*** into your ~/Downloads folder.
cd ~/Downloads
tar xvfz gurobi***_linux64.tar.gz
sudo mv gurobi*** /opt/
- Getting a license
- go to http://www.gurobi.com/downloads/licenses/license-center and requrest an university lisence. Once you have a free university lisence,
cd /opt/gurobi***/linux64/bin
./grbgetkey <LICENSE NUMBER GOES HERE>
- Set GUROBI_HOME environment variable.
echo export GUROBI_HOME="/opt/gurobi***/linux64" >> ~/.bashrc
- Download current version gurobi*** into your ~/Downloads folder.
-
install trajopt
mkdir build && cd build
cmake .. -DOSG_DIR=/usr/local/lib64/
make -j- add /path/to/trajopt:/path/to/build_trajopt/lib to PYTHONPATH
- add /usr/local/lib:/usr/local/lib64 to LD_LIBRARY_PATH