= Ubuntu Install of Libbarrett-1.2.1 =
Instructions for Debian and Source Libbarrett Installations.

**Please Note:** While you can now develop, and compile Libbarrett programs without running our real-time operation system, you **will only** be able to run the Libbarrett software on a PC that is running our real-time operating system. Details and a description of this are located here:
  http://support.barrett.com/wiki/WAM/DetailedSystemOperation

We advise development of new control software on an external PC, then copying over the necessary source files to the real-time control PC (typically the WAM's internal PC/104), recompiling, and running the software.

[#thirtyTwo Ubuntu 12.04 - 32-Bit Debian Libbarrett Installation ][[br]]
[#sixtyFour Ubuntu 12.04 - 64-Bit Debian Libbarrett Installation ][[br]]
[#source Libbarrett Installation from Source ]

[=#thirtyTwo]
== Ubuntu 12.04 Debian Installation - 32-Bit PC (PC/104 or external) ==

=== Install Depedendencies ===

** Standard Libbarrett Dependencies **
{{{
  sudo apt-get install libeigen2-dev libboost1.46-all-dev libgsl0-dev libxenomai-dev
}}}

** Barrett Modified Libconfig Debian **
{{{
  wget http://web.barrett.com/support/WAM_Installer/libconfig-barrett_1.4.5-1_i386.deb
  sudo dpkg -i libconfig-barrett_1.4.5-1_i386.deb
  rm libconfig-barrett_1.4.5-1_i386.deb
}}}

=== Install Libbarrett ===

** Libbarrett-1.2.1 **
{{{
  wget http://web.barrett.com/support/WAM_Installer/libbarrett-1.2.1_i686.deb
  sudo dpkg -i libbarrett-1.2.1_i686.deb
  rm libbarrett-1.2.1_i686.deb
}}}
[[br]]
[=#sixtyFour]
== Ubuntu 12.04 Debian Installation - 64-Bit PC ==

=== Install Depedendencies ===

** Standard Libbarrett Dependencies **
{{{
  sudo apt-get install libeigen2-dev libboost1.46-all-dev libgsl0-dev libxenomai-dev
}}}

** Barrett Modified Libconfig Debian **
{{{
  wget http://web.barrett.com/support/WAM_Installer/libconfig-barrett_1.4.5-1_amd64.deb
  sudo dpkg -i libconfig-barrett_1.4.5-1_amd64.deb
  rm libconfig-barrett_1.4.5-1_amd64.deb
}}}

=== Install Libbarrett ===

** Libbarrett-1.2.1 **
{{{
  wget http://web.barrett.com/support/WAM_Installer/libbarrett-1.2.1_x86_64.deb
  sudo dpkg -i libbarrett-1.2.1_x86_64.deb
  rm libbarrett-1.2.1_x86_64.deb
}}}

[=#source]
== Ubuntu Libbarrett Installation From Source - Architecture Independent (32 or 64-bit) ==
=== Install Depedendencies (Pre-installed on Barrett Technology Distributed OSes) ===
{{{
  svn co http://web.barrett.com/svn/libbarrett/dependencies/ ~/dependencies
  cd ~/dependencies

  tar xjf eigen-2.0.12.tar.bz2
  cd eigen
  cmake . && make && sudo make install
  cd ..

  tar xzf libconfig-1.4.5-PATCHED.tar.gz
  cd libconfig-1.4.5
  ./configure && make && sudo make install
  cd ..

  tar xjf boost_1_46_1.tar.bz2
  cd boost_1_46_1/
  ./bootstrap.sh
  sudo ./bjam --with-program_options --with-python --with-thread --with-signals --with-math --with-regex --with filesystem --with-date_time install 
  cd ..

  tar xzf gsl-1.14.tar.gz
  cd gsl-1.14
  ./configure && make && sudo make install
  cd ..

  sudo rm -Rf ~/dependencies
}}}

=== Install Libbarrett from source ===
** Libbarrett-1.2.1 **
{{{
  wget http://web.barrett.com/support/WAM_Installer/libbarrett-1.2.1.tar.gz
  tar -xf libbarrett-1.2.1.tar.gz
  cd libbarrett-1.2.1
  cmake .
  make
  sudo make install
}}}

== Done! ==
** Proceed to test your installation by reading the documentation: **
  http://support.barrett.com/wiki/Libbarrett
** Explore and run the examples in your home directory **
{{{
  # Compilation and test of example Libbarrett program. 
  cd ~/libbarrett_examples
  cmake .
  make ex02_hold_position
  ./ex02_hold_position
}}}