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.

Ubuntu 12.04 - 32-Bit Debian Libbarrett Installation
Ubuntu 12.04 - 64-Bit Debian Libbarrett Installation
Libbarrett Installation from Source

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

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

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