Ubuntu22.04 编译安装RobWork机器人库(c++)

Dw126

已于 2023-08-14 12:36:32 修改

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于 2023-08-01 11:06:35 首次发布

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Ubuntu22.04 编译安装RobWork机器人库(c++)

依赖准备

sudo apt install gcc g++ cmake
sudo apt-get install libboost-dev \
                     libboost-filesystem-dev \
                     libboost-program-options-dev \
                     libboost-serialization-dev \
                     libboost-thread-dev \
                     libeigen3-dev \
                     libqhull-dev
sudo apt install libxerces-c3.2 libxerces-c-dev \
                 swig liblua5.4-dev python3-dev python3-numpy default-jdk \
                 libgtest-dev \
                 libfcl-dev \
                 libassimp-dev \
                 freeglut3-dev \
                 qtbase5-dev \
                 libode-dev \
                 libbullet-dev libbullet-extras-dev

编译安装

mkdir ~/RobWork && cd ~/RobWork
git clone https://gitlab.com/sdurobotics/RobWork.git .
mkdir build
mkdir build/RW
mkdir build/RWStudio
mkdir build/RWSim
cd ~/RobWork/build/RW

cmake -DCMAKE_BUILD_TYPE=Release ../../RobWork \
-DCMAKE_INSTALL_PREFIX="../../install/RW" \
-DUSE_LUA=OFF \
-DUSE_Python=OFF \
-DBUILD_sdurw_java=OFF \
-DBUILD_sdurw_python=OFF \
-DBUILD_sdurw_lua=OFF
make -j8
make install

cd ~/RobWork/build/RWStudio
cmake -DCMAKE_BUILD_TYPE=Release ../../RobWorkStudio \
-DCMAKE_INSTALL_PREFIX="../../install/RWStudio" \
-DUSE_LUA=OFF \
-DUSE_Python=OFF \
-DBUILD_sdurws_java=OFF \
-DBUILD_sdurws_python=OFF \
-DBUILD_sdurws_lua=OFF
make -j8
make install

cd ~/RobWork/build/RWSim
cmake -DCMAKE_BUILD_TYPE=Release ../../RobWorkSim \
-DCMAKE_INSTALL_PREFIX="../../install/RWSim" \
-DUSE_LUA=OFF \
-DUSE_Python=OFF \
-DBUILD_sdurwsim_java=OFF \
-DBUILD_sdurwsim_python=OFF \
-DBUILD_sdurwsim_lua=OFF
make -j8
make install