OpenRAVE

机器人的高级功能,机械手臂控制.

软件方面,在ros里,有moveit!.研究的过程中,扩展到了openrave专业包.

Welcome to OpenRAVE

Latest Official Release: 0.8.2

OpenRAVE provides an environment for testing, developing, and deploying motion planning algorithms in real-world robotics applications. The main focus is on simulation and analysis of kinematic and geometric information related to motion planning. OpenRAVE's stand-alone nature allows is to be easily integrated into existing robotics systems.

It provides many command line tools to work with robots and planners, and the run-time core is small enough to be used inside controllers and bigger frameworks. An important target application is industrial robotics automation.

Official Release PPA. Execute the following to add the OpenRAVE repository:

sudo add-apt-repository ppa:openrave/release
sudo apt-get update
sudo apt-get install openrave

源码安装和编译方法:

git clone --branch latest_stable https://github.com/rdiankov/openrave.git

运行方法:

export PYTHONPATH=$PYTHONPATH:`openrave-config --python-dir`

openrave.py --example hanoi
可惜第一次运行即报如下错误:
ppeix:arm-robot$ openrave.py --example hanoi
[plugindatabase.h:929] /usr/share/openrave-0.8/plugins/libbulletrave.so: /usr/share/openrave-0.8/plugins/libbulletrave.so: undefined symbol: _ZNK16btCollisionShape17getBoundingSphereER9btVector3Rd
Segmentation fault (core dumped)