Installation from source#

PlaCo is mostly written in C++, relying on Boost Python to expose the C++ code to Python. If you want to get the sources yourself, you will first have to retrieve the dependencies and then to build the library.

System dependencies#

You can install system dependencies using:

bash scripts/requirements.sh

From the repository.

Note

The above script will setup apt-repository for robotpkg, and add extra configurations in your .bashrc file. You might have to reload your bash after.

Instaling on older systems

Above scenario was tested on Ubuntu 22.04. If you want to build on an older version, you might need to adapt the following:

  • Adapt Python’s version in above apt command (e.g. replace py310 by py38 for Python 3.8)

  • Install Eigen with at least version 3.4.0

Cloning and building#

You can now clone PlaCo:

git clone https://www.github.com/rhoban/placo.git

And build it using CMake:

cd placo
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j 8

Using built Pythin bindings#

You can now add the build/lib/python3-X/site-packages directory to your PYTHONPATH to use PlaCo.