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