Install/Build instructions

Installation

Kautham can be installed as a binary packages. Debian or Ubuntu native packages are provided.

Ubuntu package

Kautham has a package built for Ubuntu Jammy 22.04 LTS that is located in the debian-robotics repository at launchpad).

Follow these steps to add some sources and install the Kautham package:

$ sudo add-apt-repository ppa:deb-rob/jammy-robotics
$ sudo apt update
$ sudo apt-get install kautham
$ sudo apt-get upgrade

Build Kautham fom sources

Install dependencies

To install the packages that Kautham depends on, first add the required ppa sources (see above for Ubuntu or Debian). Developed version of Kautham just works in Debian Stretch and Buster and Ubuntu Focal because a Qt5 migration and Coin and SoQt dependencies.

$ sudo apt-get install libompl-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 libsoqt520-dev libcoin-dev libroscpp-dev libtrajectory-msgs-dev  ros-message-generation

Download sources

Download the Kautham source code by cloning the github repository in your preferred git-projects folder (e.g. ~/git-projects):

$ git clone https://github.com/iocroblab/kautham

Build and execute

There are three apps, and you can activate/deactivate their building modifying the corresponding flags in the CMakeLists.txt file.

• kautham-gui: By default the build flag is ON.

• kautham-console: By default the build flag is ON.

• kautham-ros: By default the build flag is ON.

If you are not interested in the kautham-ros app, set kautham-ros to OFF and follow these steps, from the kautham directory, to build and execute Kautham:

$ mkdir build
$ cd build
$ cmake ..
$ make
$ cd apps
$ ./kautham-gui