= Compiling a libbarrett example program = 1. Open a terminal on the realtime computer that will run the WAM. 1. Change to the "libbarrett_examples" directory in your home folder: {{{ cd ~/libbarrett_examples/ }}} 1. Look over the README.txt file: {{{ less README.txt }}} 1. Use the "cmake" program (http://www.cmake.org/cmake/help/cmake2.6docs.html) to generate Makefiles for your system: {{{ cmake . <-- IMPORTANT: Notice the '.' at the end of this command. }}} 1. Use the "make" program to compile the example programs. a. Compile all examples: {{{ make }}} b. Compile a specific example: {{{ make ex01_initialize_wam }}} This uses the "libbarrett_examples/ex01_initialize_wam.cpp" file to create the "libbarrett_examples/ex01_initialize_wam" program. 1. Run the program: {{{ ./ex01_initialize_wam }}} 1. Read the comments in the source code: {{{ less ex01_initialize_wam.cpp }}}