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Source installation on Ubuntu 24.04 64 bit

To install HPP and its dependencies from source on Ubuntu 24.04 LTS 64 bit, follow these steps.

1. Install robotpkg

Install robotpkg by following the robotpkg installation website.

2. Install dependencies using 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 development directory

Choose a directory on your filesystem and define the environment variable DEVEL_HPP_DIR with its full path.

  • The packages will be cloned into $DEVEL_HPP_DIR/src.
  • The packages will be installed into $DEVEL_HPP_DIR/install.

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

mkdir -p $DEVEL_HPP_DIR/src

4. Copy configuration files

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/stable.mk

5. Configure the environment

Go to $DEVEL_HPP_DIR and source the configuration file:

cd $DEVEL_HPP_DIR
source config.sh

6. Install Python dependencies

Create a Python virtual environment and install the required Python packages:

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

7. Build and install the packages

Go to the source directory and build the packages:

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 to access the documentation of most HPP packages.