gsoc-gui-dev

August 13

Settin up Clean installation of dsr

1. First step is to install the Robocomp.
2. Installing the following dependencies
   • cppItertools
   • gcc-9
   • Fast-CDR
   • foonathan_memory_vendor
   • Fast-DDS
   • pyRep

 sudo git clone https://github.com/ryanhaining/cppitertools /usr/local/include/cppitertools

 sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y
 sudo apt update
 sudo apt install -y gcc-9

 mkdir ~/software
 cd ~/software
 git clone https://github.com/eProsima/Fast-CDR.git
 mkdir Fast-CDR/build
 cd Fast-CDR/build
 export MAKEFLAGS=-j$(($(grep -c ^processor /proc/cpuinfo) - 0))
 cmake ..
 cmake --build .
 sudo make install
 cd ~/software
 git clone https://github.com/eProsima/foonathan_memory_vendor.git
 cd foonathan_memory_vendor
 mkdir build
 cd build
 cmake ..
 cmake --build .
 sudo make install
 cd ~/software
 git clone https://github.com/eProsima/Fast-DDS.git
 mkdir Fast-DDS/build
 cd Fast-DDS/build
 cmake ..
 cmake --build .
 sudo make install

 sudo apt install -y libasio-dev libtinyxml2-dev libqglviewer-dev-qt5
 sudo ldconfig

 git clone https://github.com/stepjam/PyRep.git
 cd PyRep
 echo "export COPPELIASIM_ROOT=<CoppeliaSim path>" >> ~/.bashrc
 echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT" >> ~/.bashrc
 echo "export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT" >> ~/.bashrc
 source ~/.bashrc
 pip3 install -r requirements.txt
 python3 setup.py install --user

Note: Make sure to replace <CoppeliaSim path> with the Coppelia Sim path in your machine

While installing PyRep if you get an error:

•    build/pyrep/backend/pyrep/backend/_sim_cffi.c:22:12: fatal error: pyconfig.h: No such file or directory
     #  include <pyconfig.h>
                    ^~~~~~~~~~~~
  compilation terminated.
  error: command 'x86_64-linux-gnu-gcc' failed with exit status 1
  

  then install these packages: sudo apt-get install python3-dev python3.6-dev —

• ImportError: libcoppeliaSim.so.1: cannot open shared object file: No such file or directory

Add the CoppeliaSim path to /etc/ld.so.config/ and then sudo ldconfig —

• /usr/bin/ld: cannot find -lcoppeliaSim collect2: error: ld returned 1 exit status error: command ‘x86_64-linux-gnu-gcc’ failed with exit status 1

make sure correct path of coppeliaSim is set in the LD_LIBRARY_PATH —

• ImportError: /usr/lib/x86_64-linux-gnu/libQt5Gui.so.5: symbol NumberOptionEE version Qt_5 not defined in file libQt5Core.so.5 with link time reference

make sure you have ls /usr/lib/x86_64-linux-gnu/libQt5Gui.so.5 file in your machine. After that start the ./run.sh without sudo —

1. clonning the https://github.com/robocomp/dsr-graph.git
2. go to the viriatoPyrep directory and run the ./run.sh

   • from pyrep.robots.mobiles.viriato import Viriato ModuleNotFoundError: No module named ‘pyrep.robots.mobiles.viriato’

Then make sure you copied the viriato.py from dsr-grpah/pyrep to /home/xxxyour-userxxx/.local/lib/python3.6/site-packages/pyrep/robots/mobiles/viriato.py

•  import numpy_indexed as npi \
     ModuleNotFoundError: No module named 'numpy_indexed'
  

  install the following package pip3 install numpy-indexed

Make sure you have all these dependencies required for Viriato_Pyrep:\

• OpenCV version 3 is also required by the PyRep
  • install it from the openCV git repo —

Task for tomorrow:

• Setting up a clean installation of the new DSR
• Start documenting the work
• Combine everything, so that everything work seamlessly with each other.
• Error occured while running different dsr components.