1. Open a terminal on the realtime computer that will run the WAM. 1. Checkout a copy of the libbarrett library: {{{ svn co http://web.barrett.com/svn/libbarrett/branches/1.x/ ~/libbarrett }}} 1. Use the "cmake" program (http://www.cmake.org/cmake/help/cmake2.6docs.html) to generate Makefiles for your system: {{{ cd ~/libbarrett/ cmake . <-- IMPORTANT: Notice the '.' at the end of this command. }}} 1. Use the "make" program to compile the library and important calibration utilities: {{{ cd ~/libbarrett/ make }}} This creates the following files: * src/libbarrett.so * programs/bt-wam-gravitycal * programs/bt-wam-zerocal 1. Compile an example program: {{{ cd ~/libbarrett/examples/ make ex01_initialize_wam }}} This uses the "examples/ex01_initialize_wam.cpp" file to create the "examples/ex01_initialize_wam" program. 1. Run the program: {{{ cd ~/libbarrett/examples/ ./ex01_initialize_wam }}}