Warning: This repository contains [Git submodules][git-submodules]. Please clone this repository using the git clone --recursive command. If you already have cloned the repository, you can run git submodule init && git submodule update to retrieve the submodules.

For general information about the project, please refer to its homepage: http://stack-of-tasks.github.io/pinocchio/

To compile this package, it is recommended to create a separate build directory:

mkdir _build
cd _build
cmake [OPTIONS] ..
make install

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

The Pinocchio software depends on several packages which have to be available on your machine.

• Libraries:
  • eigen3 (version >= 3.0.5)
  • boost unit_test_framework filesystem
  • Optional:
    • urdfdom (version >= 0.3.0)
    • LUA (version == 5.1)
• System tools:
  • CMake (>=2.6)
  • pkg-config
  • usual compilation tools (GCC/G++, make, etc.)
• Bindings:
  • Python: Python 2.7 + Numpy + Boost python + EigenPy (https://github.com/stack-of-tasks/eigenpy.git)

In order to read urdf files (see http://wiki.ros.org/urdf for the description), one haves to install the urdfdom package which can come either along ROS library or be installed as a standalone library. Next section describes the second procedure.

urdfdom depends on both console_bridge and urdfdom_headers. The installation of both dependencies can be done with the following command lines in a terminal :

• git clone git://github.com/ros/console_bridge.git && cd console_bridge && mkdir build && cd build && cmake .. && make && sudo make install
• git clone git://github.com/ros/urdfdom_headers && cd urdfdom_headers && mkdir build && cd build && cmake .. && make && sudo make install

Finally, you just need to apply the following command line to install urdfdom library :

• git clone git://github.com/ros/urdfdom && cd urdfdom && mkdir build && cd build && cmake .. && make && sudo make install