1. Install Coin3D:

   sudo apt-get install libcoin80-dev

2. Install Soqt4:

   sudo apt-get install libsoqt4-dev

3. Download OpenRAVE. Unpack it and install it using

   mkdir build && cd build && cmake ../ && make -j4 && sudo make install && sudo ldconfig

4. Clonde the openrave_catkin repository to your catkin_ws/src older:

   git clone https://github.com/personalrobotics/openrave_catkin.git

5. Clone the or_urdf package into your catkin_ws/src folder:

   git clone https://github.com/hoergems/or_urdf-1.git

6. Build your catkin workspace

7. Compile the package:

   mkdir build cd build && cmake ../ && make -j8 && cd ..