-
Notifications
You must be signed in to change notification settings - Fork 37
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
3 changed files
with
111 additions
and
82 deletions.
There are no files selected for viewing
42 changes: 42 additions & 0 deletions
42
doc/tutorials/introduction/installation-build-and-install.md
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| --- | ||
| layout: tutorials | ||
| toc: true | ||
| --- | ||
|
|
||
| ## Building from source with the build_and_install script | ||
|
|
||
| If you are building on Linux or macOS you can skip to the Building section. However, Windows users have to follow extra-instructions. | ||
|
|
||
| ### Windows pre-requisites | ||
|
|
||
| If you are building on Windows, you need to have the following tools installed before starting: | ||
| - [Visual Studio 2019](https://visualstudio.microsoft.com/vs/) - when installing, ensure that you select the Python extension if you wish to build the Python bindings. Furthermore, you should make sure that Visual Studio's `python` and `pip` executables are in your `PATH` environment variable; | ||
| - [Git Bash](https://git-scm.com/download/win) - we will use this tool to clone mc\_rtc and start the installation script; | ||
| - [CMake](https://cmake.org/download/) - install the latest version available; | ||
| - [Boost](https://www.boost.org/) - install the latest binaries avaible from [sourceforce](https://sourceforge.net/projects/boost/files/boost-binaries/). Make sure to select the right version for your computer and Visual Studio version, for example, for Boost 1.72 and Visual Studio 2019 on a 64 bits computer it should be: [boost_1_72_0-msvc-14.2-64.exe](https://sourceforge.net/projects/boost/files/boost-binaries/1.72.0/boost_1_72_0-msvc-14.2-64.exe/download). After installing, make sure to set the environment variable `BOOST_ROOT` to the location where you installed Boost and add Boost DLLs path to your `PATH` environment. For example, if you installed into `C:\local\boost_1_72_0` then `BOOST_ROOT` should be `C:\local\boost_1_72_0` and `%BOOST_ROOT%\lib64-msvc-14.2` should be in your `PATH`; | ||
| - [mingw-w64](https://sourceforge.net/projects/mingw-w64/files/Toolchains%20targetting%20Win32/Personal%20Builds/mingw-builds/installer/mingw-w64-install.exe/download) - this will be used to compile Fortran code on Windows. After downloading, you can run the executable. At one point, it will ask you to select several options: Version, Architecture, Threads, Exception and Build revision. For Version you can choose the most recent one (default), for Architecture you should choose x86\_64 if you are building on a 64 bits Windows (likely), for Threads you should choose win32, for Exceptions you should choose seh (default). After installing, you should make sure the `bin` folder of the installation is in your `PATH` environment, e.g. `C:\mingw-w64\x86_64-8.1.0-release-win32-seh-rt_v6-rev0\mingw64\bin` | ||
|
|
||
| Note: it should also work and compile with Visual Studio 2017. However, only Visual Studio 2019 is regularly tested | ||
|
|
||
| ### Building | ||
|
|
||
| 1. Clone the [mc\_rtc](https://github.com/jrl-umi3218/mc_rtc) repository; | ||
| 2. Go into the mc\_rtc directory and update submodules `git submodule update --init`; | ||
| 3. Go into the `utils` directory and locate the file named `build_and_install.sh`; | ||
| 4. [optional] Create a custom configuration file `build_and_install_user_config.sh` (overrides the corresponding variables from the default configuration `build_and_install_default_config.sh`) | ||
| ```sh | ||
| cp build_and_install_user_config.sample.sh build_and_install_user_config.sh | ||
| ``` | ||
| 5. [optional] Edit the `build_and_install_user_config.sh` and edit the options to your liking: `INSTALL_PREFIX`, `WITH_ROS_SUPPORT`, `ROS_DISTRO`. On Ubuntu, ROS will be installed if you enable ROS support and it was not already installed. Otherwise, you are required to install ROS by yourself before attempting to install mc\_rtc with ROS support; | ||
| 5. Run `./build_and_install.sh` | ||
|
|
||
| The script will take care of installing the required dependencies, clone all required source codes, build and install them. This may take a while. | ||
|
|
||
| If the script fails, please open up an issue on mc\_rtc issue tracker, providing the following information: | ||
| - System (compiler, distribution/OSX version) | ||
| - Script output | ||
| - Any detail you might think relevant | ||
|
|
||
| ## Getting started | ||
|
|
||
| Once mc_rtc has been installed, you can jump to the next [section]({{site.baseurl}}/tutorials/introduction/configuration.html). |
54 changes: 54 additions & 0 deletions
54
doc/tutorials/introduction/installation-build-no-script.md
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| --- | ||
| layout: tutorials | ||
| toc: true | ||
| --- | ||
|
|
||
| ## Building from source without a script | ||
|
|
||
| Building from sources on other platforms is not well documented at the moment. If you wish to embark on this adventure, the following packages are required to build mc\_rtc: | ||
| - [CMake](https://cmake.org/) >= 3.1 | ||
| - [Boost](https://www.boost.org/) >= 1.49 | ||
| - [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) >= 3.2 | ||
| - [tinyxml2](https://github.com/leethomason/tinyxml2) | ||
| - [GEOS](https://trac.osgeo.org/geos) (With C++ bindings) | ||
| - [LTDL](https://www.gnu.org/software/libtool/manual/html_node/Libltdl-interface.html) (Not required for Windows users) | ||
| - [nanomsg](https://github.com/nanomsg/nanomsg) | ||
| - [yaml-cpp](https://github.com/jbeder/yaml-cpp) | ||
| - [spdlog](https://github.com/gabime/spdlog/) >= 1.6.1 | ||
| - [hpp-spline](https://github.com/humanoid-path-planner/hpp-spline) | ||
| - [SpaceVecAlg](https://github.com/jrl-umi3218/SpaceVecAlg) | ||
| - [RBDyn](https://github.com/jrl-umi3218/RBDyn) | ||
| - [eigen-qld](https://github.com/jrl-umi3218/eigen-qld) | ||
| - [eigen-quadprog](https://github.com/jrl-umi3218/eigen-quadprog) | ||
| - [eigen-lssol](https://gite.lirmm.fr/multi-contact/eigen-lssol) (Optional) | ||
| - [sch-core](https://github.com/jrl-umi3218/sch-core) | ||
| - [Tasks](https://github.com/jrl-umi3218/Tasks) | ||
| - [mc_rtc_data](https://github.com/jrl-umi3218/mc_rtc_data) | ||
| - [state-observation](https://github.com/jrl-umi3218/state-observation) | ||
|
|
||
| mc\_rtc also has a ROS plugin that enables automated robot's status publication as ROS topics and facilitate the integration with ROS tools (e.g. RViZ), to build this you will need: | ||
|
|
||
| * [mc_rtc_msgs](https://github.com/jrl-umi3218/mc_rtc_msgs) | ||
|
|
||
| If you wish to get Python bindings you will also need the following: | ||
| * [Cython](http://cython.org/) >= 0.2 | ||
| * [python-pip]() | ||
| * [python-numpy]() | ||
| * [python-nose]() | ||
| * [python-coverage]() | ||
| * [Eigen3ToPython](https://github.com/jrl-umi3218/Eigen3ToPython) | ||
| * [sch-core-python](https://github.com/jrl-umi3218/sch-core-python) | ||
|
|
||
| Additional Python libraries are required to run mc\_rtc tools: | ||
| * [python-git]() (pip name: `GitPython`) | ||
| * [python-pyqt5]() | ||
|
|
||
| The following packages are not required but bring additionnal features: | ||
| - [ROS](http://www.ros.org/) | ||
| - [mc\_rtc\_ros](https://github.com/jrl-umi3218/mc_rtc_ros) | ||
|
|
||
| If `roscpp` is available during build then `tf2_ros` and `sensor_msgs` are also required. This will add some integration between the `ROS` framework and `mc_rtc` (e.g. robot's state publication) and allow controllers to use ROS functionnalities (provides a `ros::NodeHandle` instance that can be used anywhere in `mc_rtc`). | ||
|
|
||
| ## Getting started | ||
|
|
||
| Once mc_rtc has been installed, you can jump to the next [section]({{site.baseurl}}/tutorials/introduction/configuration.html). |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters