Changes between Initial Version and Version 1 of Libbarrett/ExamplePrograms

Timestamp:

Apr 9, 2012, 11:57:41 PM (14 years ago)

Author:

dc

Comment:

--

Libbarrett/ExamplePrograms

@@ +1 @@
+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
+}}}