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Francisco Suárez-Ruiz

I'm from Bogotá, Colombia. Currently in Singapore. Passionate about robotics, technology and football.

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Last update: May 23rd, 2017

These instructions are for installing OpenRAVE in Ubuntu 14.04 (Trusty). For the official documentation of OpenRAVE, please refer to

From my experience, the best way to install OpenRAVE is to build it from source.


You need to install the following programs:

sudo apt-get install cmake g++ git ipython octave python-dev python-h5py python-numpy \
python-pip python-scipy python-sympy qt4-dev-tools zlib-bin

Next, you will need to install the following libraries, which are available from the Ubuntu package repository:

sudo apt-get install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev     \
libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libfreetype6-dev    \
libglew-dev  libgsm1-dev liblapack-dev libmpfi-dev libmpfr-dev libode-dev libogg-dev  \
libpcre3-dev libpcrecpp0 libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev      \
libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev

Now, get the collada-dom-dev package. If you are installing OpenRAVE is very likely that you have already installed ROS Indigo. In that case, you can install collada-dom-dev directly:

sudo apt-get update
sudo apt-get install collada-dom-dev

If you are not planning to use ROS, install collada-dom-dev from the OpenRAVE PPA:

sudo add-apt-repository ppa:openrave/release
sudo sh -c 'echo "deb-src `lsb_release -cs` main" >> /etc/apt/sources.list.d/openrave-release-`lsb_release -cs`.list'
sudo apt-get update
sudo apt-get install collada-dom-dev


OpenRAVE requires OpenSceneGraph 3.4, so we have to build it from source:

cd ~/git
git clone --branch OpenSceneGraph-3.4
cd OpenSceneGraph
mkdir build; cd build
make -j `nproc`
sudo make install

FCL - The Flexible Collision Library

Install libccd:

sudo apt-add-repository ppa:imnmfotmal/libccd
sudo apt-get update
sudo apt-get install libccd

Build and install fcl version 0.5.0:

cd ~/git
git clone
cd fcl; git reset --hard 0.5.0
mkdir build; cd build
cmake ..
make -j `nproc`
sudo make install

sympy Version

Downgrade sympy so that IKFast works properly:

pip install --upgrade --user sympy==0.7.1

Building from Source

Now you can build and install OpenRAVE (Tested with commit 81ec501):

cd ~/git
git clone
cd openrave; git reset --hard 81ec501
mkdir build; cd build
cmake -DODE_USE_MULTITHREAD=ON -DOSG_DIR=/usr/local/lib64/ ..
make -j `nproc`
sudo make install

Testing the Installation

You can check that your installation works by running one of the default examples. For example: --example graspplanning

It should start the graspplanning example:

OpenRAVE example

You may see some messages printed in yellow on your command line but they are just warnings that won’t prevent your installation from working.