Building Choreonoid

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.”

Acquiring the source for the build

Download the source package file “” from the official Choreonoid site ( 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 

Installing the required packages

Execute the batch installation script that is available at choreonoid /misc/script.

 % cd choreonoid/misc/script
 % sudo ./
  (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]? 

A large volume of packages will be installed. Re-execute the script if a failure occurs prior to completion.

 % sudo apt-get update
 % sudo ./

Installation of libgstreamermm-0.10-dev and libqt4-phonon-dev is also necessary, so enter them manually.

 % sudo apt-get install libgstreamermm-0.10-dev libqt4-phonon-dev 

Once this is completed, return to the Choreonoid directory.

 % cd ../.. 

Building Choreonoid using ccmake

Invoke ccmake to generate the Makefile.

 % ccmake . 

ccmake displays only “EMPTY CACHE” on its first launch.

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 

The execution time will vary depending on the PC used.

Invoking Choreonoid

Once the execution of make is completed, execute Choreonoid.

 % bin/choreonoid 

If a startup screen like the one shown below appears, Choreonoid has been built successfully.

Figure 5. Choreonoid startup screen