The core python library of the Giskard framework for constraint- and optimization-based robot motion control.
Install the following python packages. When using 20.04, just install the latest version of everything:
sudo pip install pybullet==3.0.8 # last known version to work with python 2.7
sudo pip install scipy==1.2.2 # this is the last version for python 2.7
sudo pip install casadi
sudo pip install sortedcontainers
sudo pip install hypothesis==4.34.0 # only needed if you want to run tests
sudo pip install pandas==0.24.2
sudo pip install numpy==1.16
Now create the workspace
source /opt/ros/<ros-version>/setup.bash # source ROS
mkdir -p ~/giskardpy_ws/src # create directory for workspace
cd ~/giskardpy_ws # go to workspace directory
catkin init # init workspace, you might have to pip install catkin-tools
cd src # go to source directory of workspace
wstool init # init rosinstall
wstool merge https://raw.githubusercontent.com/SemRoCo/giskardpy/master/rosinstall/<ros-version>.rosinstall
# update rosinstall file
wstool update # pull source repositories
rosdep install --ignore-src --from-paths . # install dependencies available through apt
cd .. # go to workspace directory
catkin build # build packages
source ~/giskardpy_ws/devel/setup.bash # source new overlay