The installation procedure for Choreonoid (integrated software for choreographing robotic motions) is outlined below. In this section, only Choreonoid is built and executed, instead of installing the graspPlugin in one shot. The installation directory is taken as “~/src/choreonoid-1.0.0.”
Download the source package file “http://choreonoid.org/_downloads/choreonoid-1.0.0.zip” from the official Choreonoid site (http://choreonoid.org/en/). Unzip and extract the files by specifying “~/src” as the destination directory to create the “~/src/choreonoid-1.0.0” directory for the extracted files.
Once the computer has booted, make the “~/src/choreonoid-1.0.0” directory your current directory.
% cd choreonoid-1.0.0
Execute the batch installation script that is available at choreonoid /misc/script.
% cd choreonoid/misc/script % sudo ./install-requisities-ubuntu.sh (an omittion) Need to get xxxMB of archives. After this operation, xxxMB of additional disk space will be used. Do you want to continue [Y/n]?
% sudo apt-get update % sudo ./install-requisities-ubuntu.sh
% sudo apt-get install libgstreamermm-0.10-dev libqt4-phonon-dev
% cd ../..
Invoke ccmake to generate the Makefile.
% ccmake .
Figure 2. ccmake: EMPTY CACHE
On pressing the “c” key to configure, a menu showing the key and values should be displayed within a few seconds.
Figure 3. ccmake: configure
On pressing “c” again, a new menu item will be displayed in the lower section of the screen displaying the message, “Press [g] to generate and exit.”
Figure 4. ccmake: generate and exit
Press “g” to exit ccmake. The Makefile will be generated by this “generate and exit” operation. Execute make and build Choreonoid.
% make
Once the execution of make is completed, execute Choreonoid.
% bin/choreonoid
Figure 5. Choreonoid startup screen