stonneau / hpp-rbprm

"Implementation of RB-PRM planner using hpp."

Humanoid Path Planner - RBPRM module

Copyright 2015 LAAS-CNRS

Author: Steve Tonneau

##Description HPP - RBPRM is a library written for the software Humanoid Path Planner (link). It implements the acyclic contact planner presented in two papers (link):

"An efficient acyclic contact planner for multiped robots" (submitted to IJRR).

"A Reachability-based planner for sequences of acyclic contacts in cluttered environments" (presented at ISRR 15).

We recommend reading the IJRR submission before going using RB-PRM.

The planner has applications in both robotics and computer graphics applications (click on the pictures to watch videos):

##Installation on ubuntu-14.04 64 bit with ros-indigo

To install HPP-RBPRM:

1. install HPP - see https://github.com/humanoid-path-planner/hpp-doc - IMPORTANT: you should use the devel branch of the project for the software to work correctly

2. install hpp-affordance, and hpp-affordance corba, comprising terrain analysis tools - see https://github.com/humanoid-path-planner/hpp-affordance

3. install robust-equilibrium-lib, a library for quickly asserting static equilibrium - see https://github.com/andreadelprete/robust-equilibrium-lib

4. Use CMake to install the library. For instance:

      	mkdir $HPP_RBPRM_DIR/build
      	cd $HPP_RBPRM_DIR/build
      	cd cmake ..
      	make install
   

5. Optionally, install the python bindings for python, and example scripts (HPP-RBPRM-CORBA) - see https://github.com/stonneau/hpp-rbprm-corba

##Documentation

Open $DEVEL_DIR/install/share/doc/hpp-rbprm/doxygen-html/index.html in a web brower and you will have access to the code documentation.

hpp-rbprm's Issues

user mannual not generated

Dear Steve,

I can't find the user mannual at $DEVEL_DIR/install/share/doc/hpp-rbprm/doxygen-html/index.html
What should I do?
Thanks!

the generated configuration list failed to get to the goal

Bonjour Steve,
I couldn't let the generated configuration list reach the goal configuration. In other words, my robot stayed somewhere close to the g_init, although the path is correct.

Do you have any idea what I should look into?

Thanks!

Compilation on Ubuntu 16.04

As a remark, compilation on Ubuntu 16.04 fails with the following error:

hpp-rbprm/include/hpp/rbprm/interpolation/interpolation-constraints.hh:82:111:
error: redeclaration of
‘template<class Helper_T, class Reference> void hpp::rbprm::interpolation::CreateComConstraint(Helper_T&, const Reference&, const Vec3f&)’
may not have default arguments [-fpermissive]

I added SET(WARNING_CXX_FLAGS "-fpermissive") to CMakeLists.txt, before line include(cmake/base.cmake) and it worked.

Installation Issue

Hi, I am following the installation procedures for Hpp-rbprm. I manage to install all the dependency as instructed (using robotpkg for hpp). However, when i try to build hpp-rbprm, pkgconfig cannot find hpp-model and hpp-model-urdf.

I tried to install them with sudo apt-get install robotpkg-hpp-model, but it gives this error:

The following packages have unmet dependencies:
 robotpkg-hpp-model : Depends: robotpkg-hpp-util (= 3.1.0) but 4.5.0 is to be installed
                      Depends: robotpkg-hpp-fcl04 (= 0.4.2r2) but it is not going to be installed

I try to downgrade robotpkg-hpp-util to 3.1.0, but it results in removal of most of the hpp packages.