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.
- 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.
You can almost always avoid calling sudo, by calling
cmake .. -DCMAKE_INSTALL_PREFIX=/some/dir and exporting the
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.
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
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
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
Examples are built with Gazebo 8. They can be adapted of course to be backwards compatible.
curl -ssL http://get.gazebosim.org | sh
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!