Development sources on Ubuntu 24.04 64 bit

To install the development version of HPP from source on Ubuntu 24.04 LTS 64 bit, follow these steps.

1. Install dependencies

Install robotpkg by following the robotpkg installation website.

2. Install by apt-get

  sudo apt-get update && sudo apt-get install \
  assimp-utils cmake coinor-libipopt-dev coinor-libipopt1v5 cython3 doxygen \
  git ffmpeg gcovr gfortran graphviz libassimp-dev libboost-all-dev \
  libbullet-dev libccd-dev libcdd-dev libconsole-bridge-dev libeigen3-dev \
  libglpk-dev libgraphviz-dev libgtest-dev liblapack-dev liblog4cxx-dev \
  libltdl-dev liboctomap-dev libopencv-dev libpcl-dev \
  libtinyxml2-dev libtinyxml-dev libtool-bin \
  liburdfdom-dev liburdfdom-headers-dev libyaml-cpp-dev llvm m4 nodejs npm \
  pkg-config psmisc python3-defusedxml \
  python3-dev python3-empy python3-gnupg python3-matplotlib python3-venv \
  python3-netifaces python3-nose python3-numpy python3-paramiko \
  python3-pydot python3-scipy python3-setuptools \
  python3-sphinx python3-yaml python3-pip python-is-python3 \
  texlive-latex-extra wget \
  robotpkg-example-robot-data \
  robotpkg-romeo-description robotpkg-py312-eigenpy robotpkg-py312-coal \
  robotpkg-py312-pinocchio robotpkg-py312-proxsuite

3. Choose a directory on your file system

• Define the environment variable DEVEL_HPP_DIR with the full path to this directory.
• the packages will be cloned into $DEVEL_HPP_DIR/src,
• the packages will be installed in $DEVEL_HPP_DIR/install.

It is recommended to set DEVEL_HPP_DIR in your .bashrc for future use.

mkdir -p $DEVEL_HPP_DIR/src

4. Copy Config and Makefile

  wget -O $DEVEL_HPP_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/stable/doc/config/ubuntu-24.04.sh
  wget -O $DEVEL_HPP_DIR/src/Makefile https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/stable/makefiles/devel.mk

5. cd into $DEVEL_HPP_DIR and type

  cd $DEVEL_HPP_DIR
  source config.sh

6. install some dependencies via pip

  python -m venv $INSTALL_PIP_DIR
  $INSTALL_PIP_DIR/bin/pip install "numpy==1.26.4" trimesh pycollada viser

7. cd into $DEVEL_HPP_DIR/src and type

  cd ${DEVEL_HPP_DIR}/src
  make all

8. Documentation access

Open $DEVEL_HPP_DIR/install/share/doc/hpp-doc/index.html in a web browser and you will have access to the documentation of most packages.