Install Overworld

Since Overworld is a ROS package, make sure that ROS is installed on your platform. Overworld is fully supported and maintained by ROS Melodic Morenia, and ROS Noetic Ninjemys. Desktop ROS configuration is not required for use of overworld.

We first need to install a third-party library (bullet) from the source. This library should not be installed in the catkin workspace.

You can for example install it in ~/software

git clone git@github.com:bulletphysics/bullet3.git

cd bullet3

mkdir build && mkdir install

export BULLET_PATH=$(pwd)

cd build

cmake .. -DCMAKE_INSTALL_PREFIX=$BULLET_PATH/install -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release

make install

Before continuing, you will need to export the follwong environment variable and changing the path to correspond to your bullet installation path.

These exports are mandatory for each compilation of your ROS workspace. Put them in your .bashrc file or in a setup.sh file.

export BULLET_INSTALL_PATH=your/path/bullet3/install

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$BULLET_INSTALL_PATH/lib

Overworld uses the software Ontologenius as a knowledge base. Clone both packages in your catkin workspace and compile it:

cd ~/catkin_ws/src/

git clone https://github.com/sarthou/overworld.git

git clone https://github.com/sarthou/ontologenius.git

cd ..

catkin_make

Troubles

- If the compilation fails due to some Bullet header not find or some Bullet symbols not being linked, check if the two environment variables are correctly exported. Then, remove the build and devel folder of your ROS workspace and compile it again from scratch.

Some cmake variables use cache. If you have already tried to compile Overworld while the environment variables were not exported, recompiling the workspace without cleaning it will have no effect.

- If you have the following error :

Could not find a package configuration file provided by "qt_build" with any of the following names:

qt_buildConfig.cmake
qt_build-config.cmake

You just have to install qt-build:

sudo apt-get install ros-DISTRO-qt-build