Download

Kautham can be downloaded its public version from here

The latest version is 3.2.4 available from February 13, 2019.

Installation

There are two options to install Kautham in your computer: install a binary package or build it. By now, we only provide Debian or Ubuntu native packages.

Debian package

If you are using a Debian distribution you can install Kautham package. Kautham has a Debian package built for Debian Jessie and Stretch. It’s located at the debian-robotics repository at UPC-IOC.

To install the package you need:

$ sudo sh -c 'echo "deb http://sir.upc.edu/debian-robotics XXXXX-robotics main" > /etc/apt/sources.list.d/debian-robotics.list'

Where XXXXX could be jessie or stretch.

$ sudo apt-key adv --keyserver pgp.mit.edu --recv-keys 63DE76AC0B6779BF
$ sudo apt-get update
$ sudo apt-get install kautham

Ubuntu package

Kautham has a Debian package built for Ubuntu (Trusty 14.04 LTS or Xenial 16.04 LTS) that is located in the debian-robotics repository at launchpad).

If you have an Ubuntu Trusty, follow these steps to add some sources and install the Kautham package:

$ sudo apt-key adv --keyserver pgp.mit.edu --recv-keys 63DE76AC0B6779BF
$ sudo add-apt-repository ppa:deb-rob/ros-trusty
$ sudo apt-get update
$ sudo apt-get install kautham

If you have an Ubuntu Xenial, follow these steps to add some sources and install the Kautham package:

$ sudo apt-key adv --keyserver pgp.mit.edu --recv-keys 63DE76AC0B6779BF
$ sudo add-apt-repository ppa:deb-rob/ros-xenial
$ sudo apt-get update
$ sudo apt-get install kautham

Build Kautham fom sources

Install packages that Kautham depends on. First add the required ppa sources (see above for Ubuntu of Debian).

$ sudo apt-get install libompl-dev libsoqt4-dev libcoin80-dev cmake libboost-system-dev libboost-serialization-dev libboost-thread-dev libfcl-dev libassimp-dev  libarmadillo-dev libode-dev libpugixml-dev libeigen3-dev   freeglut3-dev

Dowload the Kautham source code from github at e.g. ~/kautham

Build the package. From the Kautham folder:

$ mkdir build
$ cd build
$ cmake ..
$ make

There are three apps: kautham-gui, kautham-console and kautham-ros.

You can activate/deactivate their building modifying the corresponing flags in the CMakeLists.txt file; by default kautham-gui and kautham-console are ON and kautham-ros is OFF.

If kautham-ros is OFF the executable files are located at the kautham/build/apps folder.

If kautham-ros is ON the executables are located at kautham/build/devel/lib/kautham, since catkin is used for the building.