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installation.md

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FS planner - Manual Installation

The following installation steps should build the planner from source. They assume a working Ubuntu environment and have been tested with the 16.04LTS release, although they probably work with more recent releases as well. Support for other platforms is currently not available.

1. Install basic packages

To begin with, you will need a few basic build packages:

sudo apt-get install --no-install-recommends \
     build-essential g++ python3 git scons libboost-all-dev pkg-config

2. Install Gecode

At the moment, the planner requires a working installation of the Gecode CSP Solver. The source code has been tested to work with Gecode 6.2.0; older versions might work as well, but there is no guarantee about that. Some Linux distributions provide precompiled binaries, but some of them package older Gecode versions only. Installing Gecode from source is not difficult; detailed instructions can be found on the framework documentation. The following command will for instance perform an installation of the Gecode modules that are necessary for the planner on ~/local, for which no root permissions are necessary:

curl -SL https://github.com/Gecode/gecode/archive/release-6.2.0.tar.gz | tar xz \
        && cd gecode-release-6.2.0 \
        && ./configure --prefix=$HOME/local \
        --disable-minimodel \
        --disable-examples \
    	--disable-flatzinc \
    	--disable-gist \
    	--disable-driver \
    	--disable-qt \
    	--disable-mpfr \
    	--disable-doc-tagfile \
    	--disable-doc-dot \
    	&& make -j8 && make install

Once you have installed Gecode either from source or with precompiled packages, you need to make sure that the Gecode libraries are placed somewhere in the LIBRARY_PATH and LD_LIBRARY_PATH environment variables, e.g. by placing something like the following in your .bashrc script:

	export LIBRARY_PATH=$LIBRARY_PATH:${HOME}/local/lib
	export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${HOME}/local/lib

3. Download the planner and related dependencies

Next, you should download the planner from the main repository and pull related dependencies. The planner does currently rely on the LAPKT Planning Toolkit and on the Rapidjson library, which will get installed as Git submodules.

git clone --branch=v2 https://github.com/aig-upf/fs.git fs-planner
cd fs-planner
git submodule update --init

4. Build the planner

Once all this is set up, you can invoke the build.py build script, which is a thin wrapper around the SCons build system. Invoke ./build.py -h to obtain a list of possible releases you can build: most likely, you will want to build the production release, which is optimized for performance, or (let's hope not!!) the debug release, which is geared towards ease of debugging. If you want to build the production release, for instance, you just need to issue the following command:

./build.py -p