The core python library of the Giskard framework for constraint- and optimization-based robot motion control.
First install sympy using pip because python-sympy, which can be installed using apt, is outdated.
sudo pip install sympy
Now create the workspace
source /opt/ros/kinetic/setup.bash # start using ROS kinetic
mkdir -p ~/giskardpy_ws/src # create directory for workspace
cd ~/giskardpy_ws # go to workspace directory
catkin init # init workspace
cd src # go to source directory of workspace
wstool init # init rosinstall
wstool merge https://raw.githubusercontent.com/SemRoCo/giskardpy/master/rosinstall/catkin.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
Run
catkin build --catkin-make-args run_tests # build packages