1=============================================================================== 2 Modular OpenRobots Simulator Engine 3 Copyright (c) 2009-2010 ONERA 4 Copyright (c) 2009-2016 LAAS-CNRS 5 Copyright (c) 2015-2016 ISAE-SUPAERO 6 Copyright held by the MORSE authors or the institutions employing them, 7 refer to the AUTHORS file for the list. The list of the contributors to 8 each file can be obtained from the commit history ('git log <file>'). 9=============================================================================== 10 11 12All this information can be read online: 13http://www.openrobots.org/morse/doc/stable/user/installation.html 14 15 16General requirements 17-------------------- 18 19Hardware 20++++++++ 21 22A decent machine is required (typically, with an Intel i5 + 4GB RAM, you 23should be comfortable). 24 25To display textures correctly in the simulator, as well as to generate images 26using the simulated cameras, you will need to have a graphics card that 27supports GLSL shading. The Blender website lists these graphic cards as 28compatible with GLSL: 29 30- ATI Radeon 9x00, Xx00, X1x00, HD2x00 and HD3x00 series and newer. - NVidia 31 Geforce FX, 6x00, 7x00, 8x00, 9x00 and GTX 2x0 and newer. 32 33If you do not need cameras and OpenGL textures/shaders, you are advised to 34run your simulation in fastmode (refer to the simulation's Builder 35API) for vastly improved loading time and performances. 36 37Supported operating systems 38+++++++++++++++++++++++++++ 39 40Only Linux (x86, x86_64) is currently officially supported. MORSE is mainly 41developed on Fedora and Ubuntu, but we don't expect problems on other 42distributions. 43 44Other UNIXes systems probably work as well (like FreeBSD or Apple MacOSX). 45 46MORSE does not currently officially support Microsoft Windows, although some 47users reported success. Testers/maintainers for Windows are welcome! 48 49Packaged versions 50----------------- 51 52morse-1.0 is available on Debian Wheezy/Ubuntu >= 13.04. You can install 53the package morse-simulator with your favorite software manager:: 54 55 $ sudo apt-get install morse-simulator 56 57You can also install the Python bindings with:: 58 59 $ sudo apt-get install python3-morse-simulator 60 61 62You can also easily install MORSE with: 63 64- robotpkg 65- brew (MacOSX) 66 67See their associated documentation for details. 68 69 70If you plan to use the simulator with raw sockets or text files as interface 71(for instance, to integrate MORSE with MatLab or other specific 72applications), you don't need anything else. Otherwise, you need to install 73the software for the desired middlewares. 74 75If you want to distribute your simulation in a multinode infrastructure, 76MORSE provides by default a socket service for multinode synchronization. If 77you want to use HLA, you have to first install the CERTI and PyHLA packages. 78 79Manual installation 80------------------- 81 82 The directory where MORSE is installed will be referred to as $MORSE_ROOT 83 in this document. 84 85 It is recommended to store this environment variable, as it is necessary to 86 use the Builder API scripts to generate simulation 87 scenes with custom equipped robots. 88 89Prerequisites 90+++++++++++++ 91 92- cmake 93- Python (3.3 or +) 94- python-dev package 95- Blender (>= 2.65) build with Python >= 3.3. You can simply get a binary from 96 Blender website 97 98 99Installation 100++++++++++++ 101 102Download the latest version of the source code. It is stored in a git 103repository:: 104 105 $ git clone https://github.com/laas/morse.git 106 107You can also get a tarball version here. 108 109Go to the directory where you have previously downloaded the MORSE source. 110Then type these commands:: 111 112 $ mkdir build && cd build 113 $ cmake .. 114 115By default, MORSE will install in /usr/local. You can easily change the 116install directory by giving additional parameters to cmake. You can also 117change the installation type and disable use middleware bindings by using 118these additional parameters. 119 120- CMAKE_INSTALL_PREFIX controls where will be installed MORSE. The install 121 prefix directory is referred to as $MORSE_ROOT. 122- BUILD_CORE_SUPPORT controls the builds and install of Morse core. It is 123 ON by default 124- BUILD_DOC_SUPPORT controls the build of the documentation (require 125 sphinx) 126- BUILD_HLA_SUPPORT controls the builds of HLA support for multi-node 127 simulations in MORSE 128- BUILD_POCOLIBS_SUPPORT controls the build of pocolibs support in MORSE. 129- BUILD_YARP_SUPPORT controls the build of YARP support in MORSE. 130- BUILD_ROS_SUPPORT controls the build of ROS support in MORSE. 131- BUILD_MOOS_SUPPORT controls the build of MOOS support in MORSE. 132- PYMORSE_SUPPORT controls the build and installation of pymorse, a 133 library to interact with Morse through the socket interface. It is needed 134 for test infrastructure. 135- CMAKE_BUILD_TYPE controls the optimization stuff for C/C++ extension 136 (Release is a good choice). 137- PYTHON_EXECUTABLE indicate where the python executable is in your system 138 (must be >= 3.3) 139 140You can set up the different variables using the command line. 141For instance, to build and install MORSE with YARP support in /opt, you need something like:: 142 143 $ cmake -DBUILD_YARP_SUPPORT=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt .. 144 145Or to tell MORSE where to find a Python installed in a different location:: 146 147 $ cmake -DPYTHON_EXECUTABLE=/usr/local/bin/python3.3 .. 148 149Alternatively, you can use ccmake .. to change all of these parameters using a 150graphical interface. You can modify many different variables by switching to 151"advanced mode" (pressing the t key). 152 153After configuring the necessary parameters, compile with:: 154 155 $ sudo make install 156 157The optional $MORSE_BLENDER environment variable can be set to let the 158simulator know where to look for Blender if it is not accessible from the 159path. 160 161You can check your configuration is ok with:: 162 163 $ morse check 164 165When updating MORSE to a more recent version, you'll simply have to do:: 166 167 $ git checkout [version] 168 $ cd build 169 $ make install 170 171Installation troubleshooting 172---------------------------- 173 174In case of problems installing MORSE, verify the list of Frequently Asked 175Questions. 176