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Merged
merged 2 commits into from
Apr 28, 2021
Merged

Updates installation instructions. #132

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4c647a9
Updates installation instructions.
matthias-mayr Apr 21, 2021
430a43a
[docs/ci]: improvements
costashatz Apr 27, 2021
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2 changes: 1 addition & 1 deletion ci/install_dart_latest.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@ fi

git clone git://github.com/dartsim/dart.git
cd dart
git checkout v6.10.1
mkdir build
cd build
if [ "$PYTHON_TESTS" = "ON" ]; then
Expand All @@ -21,7 +22,6 @@ fi
make -j4
sudo make install
if [ "$PYTHON_TESTS" = "ON" ]; then
make dartpy -j4
sudo make install-dartpy
fi
sudo ldconfig
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28 changes: 16 additions & 12 deletions docs/installation.md
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Original file line number Diff line number Diff line change
Expand Up @@ -57,11 +57,11 @@ sudo apt-get install liburdfdom-dev liburdfdom-headers-dev
cd /path/to/tmp/folder
git clone git://github.com/dartsim/dart.git
cd dart
git checkout release-6.9
git checkout v6.10.1

mkdir build
cd build
cmake -DDART_ENABLE_SIMD=ON ..
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr ..
make -j4
sudo make install
```
Expand All @@ -84,11 +84,11 @@ brew install urdfdom
cd /path/to/tmp/folder
git clone git://github.com/dartsim/dart.git
cd dart
git checkout release-6.9
git checkout v6.10.1

mkdir build
cd build
cmake -DDART_ENABLE_SIMD=ON ..
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr ..
make -j4
sudo make install
```
Expand All @@ -109,7 +109,7 @@ cd /path/to/tmp/folder
git clone https://github.com/mosra/corrade.git
cd corrade
mkdir build && cd build
cmake ..
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j
sudo make install

Expand All @@ -119,9 +119,9 @@ git clone https://github.com/mosra/magnum.git
cd magnum
mkdir build && cd build
# Ubuntu
cmake -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSGLXAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
cmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSGLXAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
# Mac OSX
cmake -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSCGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
cmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSCGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
make -j
sudo make install

Expand All @@ -130,7 +130,7 @@ cd /path/to/tmp/folder
git clone https://github.com/mosra/magnum-plugins.git
cd magnum-plugins
mkdir build && cd build
cmake -DWITH_ASSIMPIMPORTER=ON -DWITH_DDSIMPORTER=ON -DWITH_JPEGIMPORTER=ON -DWITH_OPENGEXIMPORTER=ON -DWITH_PNGIMPORTER=ON -DWITH_TINYGLTFIMPORTER=ON .. # this will enable quite a few Magnum Plugins that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
cmake -DCMAKE_BUILD_TYPE=Release -DWITH_ASSIMPIMPORTER=ON -DWITH_DDSIMPORTER=ON -DWITH_JPEGIMPORTER=ON -DWITH_OPENGEXIMPORTER=ON -DWITH_PNGIMPORTER=ON -DWITH_TINYGLTFIMPORTER=ON -DWITH_STBTRUETYPEFONT=ON .. # this will enable quite a few Magnum Plugins that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
make -j
sudo make install

Expand All @@ -139,7 +139,7 @@ cd /path/to/tmp/folder
git clone https://github.com/mosra/magnum-integration.git
cd magnum-integration
mkdir build && cd build
cmake -DWITH_DART=ON -DWITH_EIGEN=ON ..
cmake -DCMAKE_BUILD_TYPE=Release -DWITH_DART=ON -DWITH_EIGEN=ON ..
make -j
sudo make install
```
Expand All @@ -153,6 +153,9 @@ The compilation of the library is straight-forward:
- `./waf configure`
- `./waf`

To build the examples, execute this:
`./waf examples`

Now you can run the examples. For example, to run the arm example you need to type the following: `./build/arm` (or `./build/arm_plain` to run it without graphics).

### Installing the library
Expand All @@ -179,11 +182,12 @@ For the python bindings of DART, do:
```bash
cd dart

mkdir build_py # we need a different folder
cd build_py
cmake -DDART_BUILD_DARTPY=ON -DDART_ENABLE_SIMD=ON ..
mkdir build
cd build
cmake -DDART_BUILD_DARTPY=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr ..
make -j4
sudo make install
sudo make install-dartpy
```

Then the compilation of robot_dart is almost identical as before:
Expand Down