Kautham can be downloaded its public version from here
The latest version is 3.2.4 available from February 13, 2019.
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.
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
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.