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

Table of contents

• Build Instructions
• Using Docker