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INSTALL.md

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Install instructions

These install instructions are focused on Debian/Ubuntu systems.

Shared instructions

  1. (Optional) Update apt cache: sudo apt-get update
  2. Install EIGEN and cppunit: sudo apt-get install libeigen3-dev libcppunit-dev
  3. (Optional) Install Doxygen and Graphviz to generate API-documentation: sudo apt-get install doxygen graphviz

Compilation

With catkin

  1. Clone the repository inside the workspace
  2. Build with your catkin tool of preference
  3. Source the workspace
  4. (Optional) To generate the API-documentation use either rosdoc_lite or catkin_tools_document

Without catkin

  1. Clone the repository where you want
  2. Go to the orocos_kdl folder": cd orocos_kdl
  3. Create a new build folder (it is always better not to build in the source folder): mkdir build
  4. Go to the build folder cd build
  5. Execute cmake: cmake ..
    • (Optional) Adapt CMAKE_INSTALL_PREFIX to the desired installation directory
    • (Optional) To build the tests, add: -DENABLE_TESTS:BOOL=ON
    • (Optional) To change the build type, add: -DCMAKE_BUILD_TYPE=<DESIRED_BUILD_TYPE>
  6. Compile: make
  7. Install the library: sudo make install
  8. (Optional) To execute the tests: make check
  9. (Optional) To create the API-documentation: make docs. The API-documentation will be generated at <builddir>/doc/api/html.

To uninstall the library: sudo make uninstall