This software has been successfully tested under Ubuntu:
- Karmic Koala and Lucid Lynx (32bit version)
- Maverick Meerkat (64bit version)
Several libraries such as g++, Qt4, CMake, Ncurses are required. To install them:
> sudo apt-get install gcc gcc-4.4 g++ g++-4.4 libqt4-dev cmake-curses-gui
> sudo apt-get install libncurses5-dev libglut3-dev libglu1-xorg-dev
Doxygen may also be very uselful to generate documentation.
> sudo apt-get install doxygen graphviz
If you got the sofware as a tar.gz archive, put the archive in the folder of your choice, then
> tar -zxvf RobotToolKit.tar.gz
will create a folder named RobotToolKit, which will be referred to as $RKTROOT form now on.
This software relies on two additional open-source libraries for physics simulation: Ode 0.11.1 and Bullet 2.76. For convenience, their original source package is provided in the folder $RKTROOT/third_party, together with a pre-configured installation script. To install them:
> cd $RKTROOT/third_party
> ./build_third_party.sh
This will unpack the source of the libraries, configure them with the minimal requirement to build RobotToolKit. To avoid any conflict with potentially already installed libraries, this script will install these libraries in the $RKTROOT/third_party folder.
If building from a clean source, the CMakeLists.txt files needs to be generated from templates using the PMCMake tool suite.
> cd $RKTROOT
> ./PMCMake/PMGenerate.sh
This command should be run everytime you add modules to the project.
Then, you need to configure the build:
> cd $RKTROOT
> ccmake .
Choose your options, then 'c' (twice) to configure
followed by 'g'
to create the makefiles.
Finally, to compile it all:
> cd $RKTROOT
> make
If the software compiles without error, congratulation, the simulator is ready to be run!
To generate the source documentation:
> cd $RKTROOT
> doxygen Doxyfile.txt
Doxygen will put the code documentation in the $RKTROOT/doc/html folder, which will further be reachable here.