Compiling a libbarrett example program

1. Open a terminal on the realtime computer that will run the WAM.
2. Checkout a copy of the libbarrett library:

   svn co http://web.barrett.com/svn/libbarrett/branches/1.x/ ~/libbarrett
   

3. 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.
   

4. 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
5. 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.
6. Run the program:

   cd ~/libbarrett/examples/
   ./ex01_initialize_wam