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Felix Richter edited this page May 19, 2021 · 9 revisions

Building from Source

Use cmake to build and install, make sure to recursively clone the repository.

git clone --recursive https://github.com/ORB-HD/rbdl-toolkit

Dependencies

  • RBDL with minimum version 3.0.0 with error handling rbdl-orb
    • Note: currently for urdf models to work there is a PR open on rbdl-orb: while it is not merged please use my fork of rbdl-orb this is only required if you want to build rbdl-toolkit yourself. Othewise use the provided AppImage or DMG!
  • Eigen3
  • Qt5 version >= 5.14
  • Qt3D and assimp for model loading

Building On Ubuntu

Warning The most stable experience is currently provided with QT version 5.13.2 other version might work but are not guarranted. This is due to the Qt3D Api no being stable yet.

Since our research group is mostly using Ubuntu here is a quick one line install command for all dependencies except RBDL.

sudo apt install qt5* qt3d* libeigen3-dev libassimp-dev mesa-common-dev libboost-dev

Ubuntu installs qt5.9 per default and rbdl-toolkit might work with the exception of the rendering plugin. In order use the rendering plugin you will have to install qt your self. To do this download the open source version of qt from the website and follow the installation instructions. Make sure to install at least version 5.14 lower versions are not guaranteed to work, since Qt3D is at the moment subject to many changes!

Afterwards build rbdl-toolkit with cmake and adding the CUSTOM_QT_PATH variable set to your [QT_INSTALL_DIR]/[QT_VERSION]/[COMPILER]. If you compiled QT yourself just set this variable to the -prefix you used for the compile/install.

There may be warnings in ccmake that it can't find UnitTest, but it's just a warning and is safe to continue.

From scratch, the following code works for me:

sudo apt install qt5* qt3d* libeigen3-dev libassimp-dev mesa-common-dev libboost-dev
git clone --recursive https://github.com/ORB-HD/rbdl-toolkit
cd rbdl-toolkit
mkdir build
cd build
cmake -DCUSTOM_QT_PATH=~/Qt5.13/5.13.2/gcc_64 ..
make
sudo make install

Plugins

To also build the optional plugins you will need to set the cmake option TOOLKIT_BUILD_OPTIONAL_PLUGINS to ON. This might mean that you will require additional dependencies like libffmpeg.

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