Installation and Configuration

This guide will take you through the steps to install ORCA on your machine. ORCA is cross platform so you should be able to install it on Linux, OSX, and Windows.

Dependencies

  • A modern c++11 compiler (gcc > 4.8 or clang > 3.8)
  • cmake > 3.1
  • iDynTree (optional, shipped)
  • qpOASES 3 (optional, shipped)
  • Eigen 3 (optional, shipped)
  • Gazebo 8 (optional)

ORCA is self contained! That means that is ships with both iDynTree and qpOASES inside the project, allowing for fast installations and easy integration on other platforms. Therefore you can start by simply building ORCA from source and it will include the necessary dependencies so you can get up and running.

Always keep in mind that it’s better to install the dependencies separately if you plan to use iDynTree or qpOASES in other projects. For now only iDynTree headers appear in public headers, but will be removed eventually to ease the distribution of this library.

If you want to install the dependencies separately please read the following section: Installing the dependencies. Otherwise, if you just want to get coding, then jump ahead to Installing ORCA.

Note

You can almost always avoid calling sudo, by calling cmake .. -DCMAKE_INSTALL_PREFIX=/some/dir and exporting the CMAKE_PREFIX_PATH variable: export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/some/dir.

Installing the dependencies

This installation requires you to build the dependencies separately, but will give you better control over versioning and getting the latest features and bug fixes.

Eigen

wget http://bitbucket.org/eigen/eigen/get/3.3.4.tar.bz2
tar xjvf 3.3.4.tar.bz2
cd eigen-eigen-dc6cfdf9bcec
mkdir build ; cd build
cmake --build .
sudo cmake --build . --target install

qpOASES

wget https://www.coin-or.org/download/source/qpOASES/qpOASES-3.2.1.zip
unzip qpOASES-3.2.1.zip
cd qpOASES-3.2.1
mkdir build ; cd build
cmake .. -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_BUILD_TYPE=Release
cmake --build .
sudo cmake --build . --target install

iDynTree

git clone https://github.com/robotology/idyntree
cd idyntree
mkdir build ; cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build .
sudo cmake --build . --target install

Gazebo

Examples are built with Gazebo 8. They can be adapted of course to be backwards compatible.

curl -ssL http://get.gazebosim.org | sh

Installing ORCA

Whether or not you have installed the dependencies separately, you are now ready to clone, build and install ORCA. Hooray.

git clone https://github.com/syroco/orca
cd orca
mkdir build ; cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build .
sudo cmake --build . --target install

Testing your installation

Assuming you followed the directions to the letter and encountered no compiler errors along the way, then you are ready to get started with ORCA. Before moving on to the Examples, check out the Quick Start Guide to test your install and awe in the epicness of ORCA!