README

Description

This is a C++ implementation of the TOPP-RA algorithm.

Building

# clone
git clone -b develop https://github.com/hungpham2511/toppra

# build
mkdir -p cpp/build && cd cpp/build
cmake ..
make -j4

# run test
./tests/all_tests

Running test with pinocchio

pinocchio is used in toppra to calculate kinematical quantities such as end-effector pose jacobians, required for task-space velocity consraint.

Install pinocchio bindings (see below) and example from robotpkg, then setup environment variables before building

# Building
export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}
export CMAKE_PREFIX_PATH=/opt/openrobots

Add -DBUILD_WITH_PINOCCHIO=ON to the cmake command.

To run the tests

# Running
export ROS_PACKAGE_PATH=/opt/openrobots/share
export PYTHONPATH=/opt/openrobots/lib/python3.6/site-packages:$PYTHONPATH
# or any python version that you install

How to install optional dependencies:

• GLPK: sudo apt install libglpk-dev

• qpOASES: sudo apt install robotpkg-qpoases (follow http://robotpkg.openrobots.org/debian.html for robotpkg)

• pinocchio: sudo apt install robotpkg-pinocchio (follow http://robotpkg.openrobots.org/debian.html for robotpkg)

Building Python bindings

We use pybind11 to provide the bindings. To build the bindings you need to first install pybind11 version 2.5.0.

cd ~/ && git clone https://github.com/pybind/pybind11
cd pybind11 && git checkout v2.5.0
mkdir build && cd build && cmake -DPYBIND11_TEST=false .. && sudo make install

Build toppra with Python bindings and all optional dependencies:

cmake -DBUILD_WITH_PINOCCHIO=ON -DBUILD_WITH_qpOASES=ON -DBUILD_WITH_GLPK=ON -DPYTHON_BINDINGS=ON -DPYBIND11_PYTHON_VERSION=3.7 ..
make

Running this step shall build the shared library libtoppra.so and create a CPython module at toppra/cpp/ that linked to this shared library.

Issues during build

/usr/local/include/pybind11/detail/common.h:112:10: fatal error: Python.h: No such file or directory
 #include <Python.h>
          ^~~~~~~~~~
compilation terminated.

This is because during compilation, pybind11 can not find the Python header files. Check that you have libpython-dev or libpython3-dev installed and whether the correct Python executable is found during cmake step. You should see something similar to below:

-- Found PythonInterp: /usr/bin/python3.7 (found suitable version "3.7.4", minimum required is "3.7")
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.7m.so
-- Found /usr/include/python3.7m /usr/bin/python3.7

If this error persists, try give more hint to CMake FindPython module by adding these flags to the cmake command:

-DPYTHON_BINDINGS=ON -DPYBIND11_PYTHON_VERSION=3.7 -DPython_EXECUTABLE=/usr/bin/python3.7 

Building doxygen doc

Make sure that doxygen is installed and available. Running cmake normally will create a rule for building doc with doxygen.

# Run cmake normally
make doc
# The documentation is available at doc/doc/html/index.html

Using TOPPRA in CMake-based project

In your CMakeLists.txt,

# The following line defines cmake target toppra::toppra
find_package(toppra)
...
target_link_library(foo PUBLIC toppra::toppra)