sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.8 10
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 20
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.8 10
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-5 20
sudo update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30 
sudo update-alternatives --config gcc
sudo update-alternatives --config g++

wget -O - https://midas3.kitware.com/midas/download/item/318227/castxml-linux.tar.gz | tar zxf - -C $HOME
export PATH=$HOME/castxml/bin:$PATH

sudo pip install pygccxml

sudo -H pip install -vU https://bitbucket.org/ompl/pyplusplus/get/1.6.tar.gz

/usr/bin/wget --no-check-certificate -O - https://bitbucket.org/ompl/pyplusplus/downloads/pyplusplus-r1247.tgz | tar xzf -
cd ../pyplusplus
/usr/bin/python setup.py build
sudo /usr/bin/python setup.py install 

# for ubuntu 16.04
sudo apt install castxml libfcl-0.5-dev
# 由于自带库版本过老，所以需要源安装
sudo apt remove python-pygccxml python-py++ gccxml
sudo apt remove liboctomap-dev liboctomap1.6v5
# gccxml has been replaced by castxml, which is installed by apt

cd ./ocotomap
mkdir build
cd ./build
cmake ..
make -j4
sudo make install

cd ./pyplusplus
python setup.py build
sudo python setup.py install

sudo -H pip install pygccxml

sudo -H pip install Flask
sudo -H pip install Celery

export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH

export CXX=g++
export CXX=g++-5
export MAKEFLAGS="-j `nproc`"

cd ./build/Release
cmake -DCMAKE_BUILD_TYPE=Release ../..
make update_bindings  -j4
# 注意，如果内存不够大，请不要用-j4，不然会出现未知错误！
make -j4
sudo make install
# 请耐心等待

./ompl_app.py

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