Changes between Version 2 and Version 3 of Libbarrett/ExamplePrograms


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Timestamp:
May 14, 2012, 6:09:22 PM (8 years ago)
Author:
dc
Comment:

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  • Libbarrett/ExamplePrograms

    v2 v3  
    11= Compiling a libbarrett example program =
    221. Open a terminal on the realtime computer that will run the WAM.
    3 1. Checkout a copy of the libbarrett library:
     31. Change to the "libbarrett_examples" directory in your home folder:
    44{{{
    5 svn co http://web.barrett.com/svn/libbarrett/branches/1.x/ ~/libbarrett
     5cd ~/libbarrett_examples/
     6}}}
     71. Look over the README.txt file:
     8{{{
     9less README.txt
    610}}}
    7111. Use the "cmake" program (http://www.cmake.org/cmake/help/cmake2.6docs.html) to generate Makefiles for your system:
    812{{{
    9 cd ~/libbarrett/
    1013cmake .      <-- IMPORTANT: Notice the '.' at the end of this command.
    1114}}}
    12 1. Use the "make" program to compile the library and important calibration utilities:
     151. Use the "make" program to compile the example programs.
     16  a. Compile all examples:
    1317{{{
    14 cd ~/libbarrett/
    1518make
    1619}}}
    17    This creates the following files:
    18      * src/libbarrett.so
    19      * programs/bt-wam-gravitycal
    20      * programs/bt-wam-zerocal
    21 1. Compile an example program:
     20  b. Compile a specific example:
    2221{{{
    23 cd ~/libbarrett/examples/
    2422make ex01_initialize_wam
    2523}}}
    26    This uses the "examples/ex01_initialize_wam.cpp" file to create the "examples/ex01_initialize_wam" program.
     24     This uses the "libbarrett_examples/ex01_initialize_wam.cpp" file to create the "libbarrett_examples/ex01_initialize_wam" program.
    27251. Run the program:
    2826{{{
    29 cd ~/libbarrett/examples/
    3027./ex01_initialize_wam
    3128}}}