The procedure for installing graspPlugin is outlined below.
Since subversion is required for the installation of graspPlugin, install the same, if it is not already installed.
% sudo apt-get install subversion
Use subversion to check out and extract the graspPlugin source under the “extplugin” directory of “~/src/choreonoid-1.0.0.”
% cd ~/src/choreonoid-1.0.0/extplugin % svn checkout http://grasp-plugin.googlecode.com/svn/trunk/graspPlugin
Execute the graspPlugin installation script (a user password is required).
% ./graspPlugin/Grasp/install-requisities-ubuntu.sh
% sudo apt-get install wx-common
In order to install graspPlugin as a plug-in, change Choreonoid’s build settings using ccmake.
% cd ~/src/choreonoid-1.0.0 % ccmake .
Pressing the “c” key twice will configure and create two items: GRASP_PLUGINS and GRASP_ROBOT_MODEL_PLUGINS.
Figure 6. ccmake: Editing the keys
Set the following values to the respective items:
Key | Value |
---|---|
GRASP_PLUGINS | Grasp;PRM;GripperManipulation;VisionTrigger;RobotInterface |
GRASP_ROBOT_MODEL_PLUGINS | HIRO/Plug-in |
Once the values have been edited, press “c” to configure. Next, press the “g” key to generate the makefile and exit. Then, execute make to build Choreonoid and the plug-in.
% make
Execute Choreonoid.
% bin/choreonoid
In comparison to the build using Choreonoid alone, the toolbar now contains increased options due to the addition of graspPlugin. Furthermore, messages to the effect of “.... plug-in file being loaded” and “... plug-in being activated” are displayed in the message tab.