Morpheus Installation Guide

Installing morpheus is a relatively complicated procedure. In the following, we have tried to point out the crucial steps. However, this installation guide is still in an early state.

The following steps have to be accomplished:

1. Install a bunch of libraries that are already available in the package system of SuSe (tested on OpenSuse 10.2)
2. Configure, compile and install several libraries that are only available from source
3. Compile morpheus, which requires to repeatedly call make at the right places

You will need the following libraries from YaST:

• mpfr / -devel
• fortran*
  • comput-g77
  • f2c
  • gcc41-fortran
  • gcc-fortran
  • libgfortran
• gdk-devel
• gtk-devel
• boost
• cd1394
• gsl
• image Maick incl. c++-dev
• freeglut
• gtk_devel
• tcpd

The freeglut package installs both dynamic as well as static libraries onto the system; morpheus however fails to build when the dynamic library is in the path. Therefore rename manually:

su
cd /usr/lib
mv libglut.so libglut.so.disable
exit

Additionally, you will need the following libraries:

• OpenCV
• CGAL
• proj
• glpk
• gts
• VTK-5.0
• MA27
• OOQP
• wxWidgets

Some of the libraries additionally requires morpheus specific patching. To make things easier, we have prepared a fully patched and complete source tarball of all required libraries here: http://lollypop.informatik.uni-freiburg.de/resources/morpheus-snapshot.tgz

As each library has its own special installation procedure, the recommended way of compilation is outlined in the following:

./configure
make
su
make install
exit

./install_cgal -i

In the install dialog, choose b, then i. Change the installation path to /usr/local/. After you quick the install script, the path to the CGAL makefile will be displayed.

Edit this makefile (e.g. vi), find the line starting with CGAL_CXXFLAGS and remove the option -frounding-math.

Add the path to the makefile as an environment variable to your startup script (like the .bashrc if you use bash)

export CGAL_MAKEFILE=[..]

./configure
make
su
make install
exit

./configure
make
su
make install
exit

./configure
make
su
make install
exit

cmake -i
make
su
make install
exit

Make sure you select the following options while cmake -i:

expert modus : NO
Share Libs: ON
Parrallel: ON

./configure
make
su
cp libMA27.a /usr/local/lib
exit

./configure
make
su
cp OOQP/include/* /usr/local/include/
make install
exit

./configure --with-gtk --enable-monolithic --enable-debug --with-opengl
make
su
make install
exit

Create a symbolic link in your home folder from the source package:

cd ~
ln -s morpheus-snapshot/carmen-0.6.5-beta carmen

Add the path to the carmen directory as an environment variable to your startup script (like the .bashrc if you use bash):

export CARMEN_HOME=~/carmen

./configure --nojava
make distclean
make

NOTE: Don't run make install for carmen as everybody that is working on the same computer probably has a slightly different version of carmen.

Create a symbolic link in your home folder from the source package:

cd ~
ln -s morpheus-snapshot/morpheus.r1418 morpheus

Add the path to the morpheus directory as an environment variable to your startup script (like the .bashrc if you use bash):

export MORPHEUS_HOME=~/morpheus

cp src/arm/utils/powercube_messages.h include/
cp src/arm/colli/pc_colli_messages.h include/

cd src/
make
cd mapping/
make
cd ../gps
make
cd ..
make
make
make

NOTE: Don't run make install for morpheus as everybody that is working on the same computer probably has a slightly different version of morpheus.

Good luck!