python packages needed: * python-control http://sourceforge.net/apps/mediawiki/python-control/index.php?title=Main_Page wget http://sourceforge.net/projects/python-control/files/control-0.5b.tar.gz tar -xvf control-0.5b.tar.gz cd control-0.5b python setup.py install * python-control depends on slycot (Python bindings to slicot. slicot requires a fortran compiler) git clone git://github.com/avventi/Slycot.git cd Slycot python setup.py install * NetworkX http://networkx.lanl.gov/ apt-get install python-networkx * shapely (can be easily avoided) https://github.com/sgillies/shapely apt-get install python-shapely * have installed libgeos for speedup apt-get install libgeos-dev * sudo pip install descartes * cvxopt Won't install with pip or easy_install since setup.py is in the wrong place. Still, use pip to download the build files, navigate to python/build/cvxopt/src and run python setup.py install (or try apt-get install python-cvxopt) * SciPy/NumPy/Matplotlib apt-get install python-matplotlib * scikit-learn pip install -U scikit-learn (only use for nearest-neighbor queries in Euclidean distance -- for drawing Voronoi bias in RRT example not needed, but this is what I use to run python * IPython apt-get install ipython (to use IPython's graphical console if you have problems) Installing PyQt: http://problemssol.blogspot.com/2010/12/compile-and-install-pyqt4-for-python27.html need libpyside-dev package to install for python2.7 in 10.04: https://launchpad.net/~pyside/+archive/ppa (there is a nicer way to do this. just follow the instuctions on the ppa website) * add the sources to /etc/apt/source.list * sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 073700C1 * sudo apt-get update (still not sure how to get libpyside-python2.7.so) to run an example: git clone git://github.com/goretkin/kinodyn.git bash> cd kinodyn bash> ipython --pylab ipython> %run examplets/rrt_2d_example.py ipython> plt.show() click on the plot to force extensions