Installation
Bench-MR is known to work on UNIX-based operating systems and uses CMake to find the C++ dependencies.
Dependencies
- libccd-1.4+ (because of the
chomp
implementation used here), included as submodule and automatically built - OMPL - included as submodule, needs to be installed first
- nlohmann/json - not provided, needs to be installed first
- SBPL - not provided, needs to be installed
- Jupyter Lab with Python 3 kernel for plotting and evaluation (see python/README.md)
The following boost libraries (version 1.58+) need to be installed:
boost_serialization
boost_filesystem
boost_system
boost_program_options
The provided CHOMP implementation requires, GLUT and other OpenGL libraries to be present, which can be installed through the freeglut3-dev
package. PNG via libpng-dev
, expat via libexpat1-dev
.
Optionally, to support visual debugging, Qt5 with the Charts
and Svg
modules needs to be installed.
Frontend Dependencies
The following system-wide dependencies need to be set up:
- Python 3.5+
- PIP 3 (install via
apt install python3-pip
) - Jupyter Lab
The Python frontend dependencies are defined in python/requirements.txt
which can be installed through
pip install -r python/requirements.txt