Version 4 (modified by dc, 10 years ago) (diff)


Compiling a libbarrett example program

  1. Open a terminal on the realtime computer that will run the WAM.
  2. Change to the "libbarrett_examples" directory in your home folder:
    cd ~/libbarrett_examples/
  3. Look over the README.txt file:
    less README.txt
  4. Use the "cmake" program ( to generate Makefiles for your system:
    cmake .      <-- IMPORTANT: Notice the '.' at the end of this command.
  5. Use the "make" program to compile the example programs.
    1. Compile all examples:
    2. 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.
  6. Run the program:
  7. Read the comments in the source code:
    less ex01_initialize_wam.cpp