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openrave install on ubuntu 9.04

first go

earlier this week i unsuccessfully tried to install it. there were
no directions for 9.04 on the wiki. using the directions for 8.10 the
build failed:

[ 96%] Building CXX object plugins/qtcoinrave/CMakeFiles/qtcoinrave.dir/aviUtil.o
openrave/plugins/qtcoinrave/aviUtil.cpp:456:29: error: ffmpeg/avformat.h: No such file or directory
openrave/plugins/qtcoinrave/aviUtil.cpp:457:28: error: ffmpeg/avcodec.h: No such file or directory

second go

The wiki was updated to include directions for 9.04. that is really
reassuring to me, updated documentation is awesome. tried checking out
the latest from svn. same errors. with a little more time today i
decided to hunt down the errors.

the required missing headers were in /usr/include/libavcodec/,
/usr/include/libavformat/, and /usr/include/libavutil/. I created the
ffmpeg directory and symbolic links.

sudo mkdir /usr/include/ffmpeg
sudo ln -s /usr/include/libavutil/* /usr/include/ffmpeg/
sudo ln -s /usr/include/libavcodec/* /usr/include/ffmpeg/
sudo ln -s /usr/include/libavformat/* /usr/include/ffmpeg/

i still get the error

[ 96%] Building CXX object plugins/qtcoinrave/CMakeFiles/qtcoinrave.dir/aviUtil.o
openrave/plugins/qtcoinrave/aviUtil.cpp: In function ‘bool ADD_FRAME_FROM_DIB_TO_AVI(void*)’:

openrave/plugins/qtcoinrave/aviUtil.cpp:633: error: ‘img_convert’ was not declared in this scope

i tried removing coin3d from my system so that this hopefully
unnecessary part of the build would be skipped. no go, coin3d is


there are some further instructions for ubuntu involving video
recording. there are some difficulties in using the libav* libraries.
the same libraries that my compilation were failing at. did some more
research on how to disable video recording.

ended up editing CMakeLists.txt line 90 to set video recording to off.

option(ENABLE_VIDEORECORDING "Enable video recording" OFF)

you could also do this by editing the makefile which would pass
parameters to the CMake file. I am unfamiliar with the CMake syntax in
the makefile so editing the CMake file was more straight forward.

compile and install success.

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