Installing OpenRAVE0.9 on Ubuntu trusty (14.04)

Finally I made it… compile OpenRAVE under Ubuntu trusty and to run it without getting this segmentation fault:

undefined symbol: _ZN5boost20assertion_failed_msgEPKcS1_S1_S1_l

In fact it is pretty simple, here is what I did:

1. Download the latest OpenRAVE version from the git repository, as described at the website below
   git clone –branch latest_stable https://github.com/rdiankov/opnrave.git

2. It is also advantageous to add following repositories to your etc/apt/source.list

   deb http://ppa.launchpad.net/openrave/testing/ubuntu trusty main

   deb-src http://ppa.launchpad.net/openrave/testing/ubuntu trusty main

   they contain the current collada-dom package… install …

   sudo apt-get install collada-dom2.4-dp*

   the following package might be also useful (thx peci1)

   sudo apt-get install libsoqt4-dev

3. I had additional problems to compile the plugin “qtosgrave”, which is only as an additional visualization plugin (so not required). Thus, remove in file plugins/CMakeList.txt in line 21 the qtosgrave entry.

4. (Solution to the linker/segmentation/boost problem) To get rid of that boost failure, simply enter the directory python/bindings, there are three files where you have to replace the boost-makro BOOST_ENABLE_ASSERT_HANDLER by BOOST_DISABLE_ASSERTS, these are (of course):

   1. convexdecompositionpy.cpp
   2. bindings.cpp
   3. pyann.cpp

5. That’s it and the rest is straight forward:

   1. go back to the OpenRAVE root directory
   2. mkdir build
   3. cd build
   4. ccmake .. (and generate)
   5. make
   6. sudo make install

6. Try it out: openrave.py –example hanoi

Here is the proving screenshot of the running example