⚠️ Warning: AIKIDO is under heavy development. These instructions are primarily for reference by the developers.

AIKIDO is a C++ library, complete with Python bindings, for solving robotic motion planning and decision making problems. This library is tightly integrated with DART for kinematic/dynamics calculations and OMPL for motion planning. AIKIDO optionally integrates with ROS, through the suite of aikido_ros packages, for execution on real robots.

AIKIDO depends on ROS. You should install ROS by adding the ROS repository to your sources.list as follows. We encourage users to install indigo.

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
$ sudo apt-get update
$ sudo apt-get install ros-indigo-actionlib ros-indigo-geometry-msgs ros-indigo-interactive-markers ros-indigo-roscpp ros-indigo-std-msgs ros-indigo-tf ros-indigo-trajectory-msgs ros-indigo-visualization-msgs

Once ROS is installed, you can install AIKIDO from the Personal Robotics Lab PPA:

$ sudo add-apt-repository ppa:libccd-debs/ppa
$ sudo add-apt-repository ppa:fcl-debs/ppa
$ sudo add-apt-repository ppa:dartsim/ppa
$ sudo add-apt-repository ppa:personalrobotics/ppa
$ sudo apt-get update
$ sudo apt-get install libaikido0-all-dev

# Install the Homebrew package manager
$ /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
# Add Homebrew tap for Personal Robotics Lab software
$ brew tap personalrobotics/tap
# Install AIKIDO
$ brew install aikido0

Note: While ROS seems to be available on macOS, we haven't tested it with AIKIDO. For now, brew install aikido0 installs AIKIDO without the ROS-dependent components.

AIKIDO depends on CMake, Boost, DART (version 6.3 or above), OMPL, yaml-cpp, tinyxml2, pr-control-msgs, libmicrohttpd, and the Python development headers (python-dev on Debian systems). DART and AIKIDO both make heavy use of C++11 and require a modern compiler.

You should install the ROS packages as described above to build all the ROS-dependent AIKIDO components (e.g., aikido-control-ros).

Install the other dependencies:

$ sudo add-apt-repository ppa:libccd-debs/ppa
$ sudo add-apt-repository ppa:fcl-debs/ppa
$ sudo add-apt-repository ppa:dartsim/ppa
$ sudo add-apt-repository ppa:personalrobotics/ppa
$ sudo apt-get update
$ sudo apt-get install cmake build-essential libboost-filesystem-dev libdart6-optimizer-nlopt-dev libdart6-utils-dev libdart6-utils-urdf-dev libmicrohttpd-dev libompl-dev libtinyxml2-dev libyaml-cpp-dev pr-control-msgs

Once the dependencies are installed, you can build and install AIKIDO using CMake:

$ mkdir build
$ cd build
$ cmake ..
$ make  # you may want to build AIKIDO using multi-core by executing `make -j4`
$ sudo make install

AIKIDO includes several optional components that depend on ROS. While we suggest building AIKIDO in a Catkin workspace (see below) to enable the ROS components, it is also possible to build those components in a standalone build. To do so, source the setup.bash file in your Catkin workspace before running the above commands, e.g.:

$ . /path/to/my/workspace/setup.bash

It is also possible to build AIKIDO as a third-party package inside a Catkin workspace. To do so, clone AIKIDO into your Catkin workspace and use the catkin build command like normal.

If you are using the older catkin_make command, then you must build your workspace with catkin_make_isolated. This may dramatically increase your build time, so we strongly recommend that you use catkin build, which is provided by the catkin_tools package, if possible.

Please follow the AIKIDO style guidelines when making a contribution.

AIKIDO is licensed under a BSD license. See LICENSE for more information.

AIKIDO is developed by the Personal Robotics Lab in the Paul G. Allen School of Computer Science and Engineering at the University of Washington. The library was started by Michael Koval (@mkoval) and Pras Velagapudi (@psigen). It has received major contributions from Shushman Choudhury (@Shushman), Brian Hou (@brianhou), Aaron Johnson (@aaronjoh), Jennifer King (@jeking), Gilwoo Lee (@gilwoolee), Jeongseok Lee (@jslee02), and Clint Liddick (@ClintLiddick). We also would like to thank Michael Grey (@mxgrey) and Jeongseok Lee (@jslee02) for making changes to DART to better support AIKIDO.