- Open a terminal on the realtime computer that will run the WAM.
- Change to the "libbarrett_examples" directory in your home folder:
cd ~/libbarrett_examples/
- Look over the README.txt file:
less README.txt
- Use the "cmake" program (http://www.cmake.org/cmake/help/cmake2.6docs.html) to generate Makefiles for your system:
cmake . <-- IMPORTANT: Notice the '.' at the end of this command.
- Use the "make" program to compile the example programs.
- Compile all examples:
make
- 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.
- Run the program:
./ex01_initialize_wam
- Read the comments in the source code:
less ex01_initialize_wam.cpp