OMPL Installation Instructions
Detailed instructions for compiling and installing OMPL on a Linux machine.
The following instructions mathces Ubuntu14.04 64bit OS with default installation
+============+ | General | +============+ sudo apt-get update sudo apt-get upgrade mkdir ompl_compile cd ompl_compile sudo apt-get install libboost-all-dev cmake python-dev python-qt4-dev python-qt4-gl python-opengl freeglut3-dev libassimp-dev libeigen3-dev libode-dev doxygen graphviz build-essential python-setuptools git mercurial # I worked with gcc-4.8. if another compiler is necessary, do something like this: # sudo apt-get install gcc-4.9 g++-4.9 # sudo unlink /usr/bin/gcc # sudo unlink /usr/bin/g++ # sudo ln -s /usr/bin/gcc-4.9 /usr/bin/gcc # sudo ln -s /usr/bin/g++-4.9 /usr/bin/g++
+============+ | libccd | +============+ git clone https://github.com/danfis/libccd.git cd libccd cmake . make sudo make install
+============+ | fcl | +============+ git clone https://github.com/flexible-collision-library/fcl.git cd fcl cmake . make sudo make install
+============+ | flask | +============+ git clone https://github.com/mitsuhiko/flask.git cd flask python setup.py build sudo python setup.py install
+============+ | PyOpenGL | +============+ wget https://pypi.python.org/packages/source/P/PyOpenGL-accelerate/PyOpenGL-accelerate-3.1.1a1.tar.gz#md5=04e52af352dd078275a2d5720c4afea2 tar -xzf PyOpenGL-accelerate-3.1.1a1.tar.gz cd PyOpenGL-accelerate-3.1.1a1/ python setup.py build sudo python setup.py install
+============+ | gccxml | +============+ git clone https://github.com/gccxml/gccxml.git cd gccxml # gcc>4.8 may require the following patches: # vi GCC/gcc/toplev.h # comment lines 173-183 - definition of floor_log2 and exact_log2 # vi GCC/gcc/toplev.c # comment lines 545-575 and 580-590 # vi GCC/gcc/cp/libc_name_p # remove __inline__ from function libc_name_p on lines 38, 109 # # gcc>=5 may require something like the following line, but I'm not sure if this works at all # cp -R GCC_XML/Support/GCC/4.9 GCC_XML/Support/GCC/5.2 cmake . cmake --build . sudo cmake --build . --target install
+============+ | pygccxml | +============+ git clone https://github.com/gccxml/pygccxml.git cd pygccxml python setup.py build sudo python setup.py install
+============+ | pyplusplus | +============+ hg clone https://bitbucket.org/ompl/pyplusplus cd pyplusplus python setup.py build sudo python setup.py install
+============+ | BOOST | +============+ I worked with a compiled version of boost-1.54. another option is to compile it by yourself. boost 1.54 with gcc>=5 may require patching line 44 in file cstdint.hpp (google it for the exact patch) then, when compiling ompl, need to set -DBOOST_ROOT=~/ompl_compile/boost/boost new versions of boost requires a new version of gcc (>=5), which may not be compatible with gccxml.
+============+ | OMPL | +============+ wget https://bitbucket.org/ompl/ompl/downloads/omplapp-1.1.1-Source.tar.gz tar -xzf omplapp-1.1.1-Source.tar.gz cd omplapp-1.1.1-Source mkdir build cd build cmake .. cmake . make update_bindings make make test make doc sudo make install