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Compile footstep_planner with the latest SBPL version
Description: These instructions show how to compile a newer version of SBPL and use it with footstep_planner. The released version may have bugs or missing features. Currently, 1.1.0 segfaults when using the R* planner.Tutorial Level: INTERMEDIATE
- check out current sbpl version in a workspace dir:
git clone https://github.com/sbpl/sbpl.git cd sbpl
If you want to use R* with footstep planning, check out the special branch for it:git checkout rstar_footsteps
- compile and install into the install directory INSTALL_DIR (this can be in /usr/local, requiring sudo, or also in your home directory). Replace $INSTALL_DIR with your location, or set the variable value correctly.
mkdir build cd build cmake .. -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR make make install
get rid of local sbpl installation, otherwise rosmake/catkin finds the wrong version first: sudo apt-get remove ros-fuerte-sbpl
compile footstep_planner (humanoid_navigation needs to be in your ROS workspace or ROS_PACKAGE_PATH). The second step adds the install location of the file sbpl.pc to the search path of pkg-config. The last step should then pick up SBPL in your local install directory.
roscd footstep_planner export PKG_CONFIG_PATH=$INSTALL_DIR/lib/pkgconfig:$PKG_CONFIG_PATH rosmake footstep_planner
