- Build RL on Mac OS The Robotics Library uses CMake as a build system. It can generate project files for various platforms, e.g., Makefiles or XCode project files. Please note that Mac OS support of the Robotics Library is in an experimental stage.
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- Mac OS X was originally presented as the tenth major version of Apple's operating system for Macintosh computers; until 2020, versions of macOS retained the major version number '10'. Previous Macintosh operating systems (versions of the classic Mac OS) were named using Arabic numerals, as with Mac OS 8 and Mac OS 9.
The Robot Operating System (ROS) is not an actual operating system, but a framework and set of tools that provide functionality of an operating system on a heterogeneous computer cluster. Its usefulness is not limited to robots, but the majority of tools provided are focused on working with peripheral hardware.
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Please note that Mac OS support of the Robotics Library is in an experimental stage. The following tutorial has only been tested for High Sierra and may need to be adapted for other setups.
Prerequisites
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In order to compile the dependencies of RL, this tutorial uses the Homebrew project. First, install the Xcode Command Line Tools (CLT) and Homebrew as described on the Homebrew website.
When covid attacks mac os. Add the RL Homebrew repository with the following command.
In order to compile RL, install all of its dependencies from Homebrew with the following command.
In order to generate the API documentation, you need to install the following software packages as well.
For multi core compilation support (e.g., quad core), set these variables before running the other commands.
Building the Robotics Library
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Download the source code and additional examples and extract the archives. Open a terminal and change into the directory of the extracted source.
Create a build directory.
Build the library by executing the following commands.
Additionally, the following commands can be used to build the API documentation on demand and to run tests included in the project.
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Build Configuration
You can configure the build process by specifying a number of CMake options. Building of selected libraries, demos, or extra applications can be disabled in order to avoid certain dependencies if they are not required. The following table shows an overview of all RL specific parameters and their default values. These options can be directly appended to the
cmake
command. For a detailed overview of all options, you can run the interactive interface of CMake ccmake
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Option | Description | Values |
---|---|---|
-D BUILD_DEMOS=ON | Enable/disable building the demo applications. | ON/OFF |
-D BUILD_DOCUMENTATION=OFF | Enable/disable building the API documentation. | ON/OFF |
-D BUILD_EXTRAS=ON | Enable/disable building the extra applications. | ON/OFF |
-D BUILD_RL_HAL=ON | Enable/disable building the RL::HAL library and its dependencies. | ON/OFF |
-D BUILD_RL_KIN=ON | Enable/disable building the RL::KIN library and its dependencies. | ON/OFF |
-D BUILD_RL_MATH=ON | Enable/disable building the RL::MATH library and its dependencies. | ON/OFF |
-D BUILD_RL_MDL=ON | Enable/disable building the RL::MDL library and its dependencies. | ON/OFF |
-D BUILD_RL_PLAN=ON | Enable/disable building the RL::PLAN library and its dependencies. | ON/OFF |
-D BUILD_RL_SG=ON | Enable/disable building the RL::SG library and its dependencies. | ON/OFF |
-D BUILD_RL_UTIL=ON | Enable/disable building the RL::UTIL library and its dependencies. | ON/OFF |
-D BUILD_RL_XML=ON | Enable/disable building the RL::XML library and its dependencies. | ON/OFF |
-D BUILD_SHARED_LIBS=ON | Enable/disable building shared libraries. | ON/OFF |
-D BUILD_TESTS=ON | Enable/disable building the test applications. | ON/OFF |
-D USE_QT5=ON | Prefer Qt5 over Qt4 if available. | ON/OFF |