Codebase Installation#

Before installation …#

Before installing this codebase, you need to make sure the correct hardware setup (such as RTOS system installation). See system prerequisite.

On Both Desktop And NUC#

Install dependencies#

Clone this repo to the robot workspace directory on Desktop computer (e.g. /home/USER_NAME/WORKSPACE)

cd deoxys_control/deoxys

Run the InstallPackage file to install necessary packages.

./InstallPackage

During installation, you will be asked if the version of libfranka should be 0.8.0, 0.9.0, or 0.10.0. Type in the version name according to the FCI version your robot has.

On NUC#

Build the codebase#

Make sure that you are in your python virtual environment before building this.

Currently I didn’t handle the dynamic library linking quite well. The error-proof way is to do export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:XXX.so, with XXX replaced by the actual package name it’s missing. You can also refer to the provided bash script that handles this issue:

make -j build_franka=1

On Desktop#

Build the codebase#

Make sure that you are in your python virtual environment before building this.

make -j build_deoxys=1

And install all the python dependencies (feel free to create a pull request if anything is missing) from deoxys/requirements.txt, by doing:

pip install -U -r requirements.txt