06-编译安装RobWork

源码介绍：

RobWork is a collection of C++ libraries for simulation and control of robot systems. RobWork is used for research and education as well as for practical robot applications。

RobWork是C ++库的集合，用于仿真和控制机器人系统。

RobWork用于研究和教育以及实际的机器人应用。

官网源码地址：https://gitlab.com/sdurobotics/RobWork/

官网Ubuntu编译安装：https://robwork.dk/installation/ubuntu_compile/

编译步骤：

本教程针对Ubuntu 16.04，其他版本请参见官网步骤

安装工具：

sudo apt-get install git mercurial
sudo apt-get install gcc g++ cmake

安装依赖：

sudo apt-get install libboost-dev \
                     libboost-date-time-dev \
                     libboost-filesystem-dev \
                     libboost-program-options-dev \
                     libboost-regex-dev \
                     libboost-serialization-dev \
                     libboost-system-dev \
                     libboost-test-dev \
                     libboost-thread-dev

可选依赖（可以不安装）：

可选依赖编译工具

sudo apt-get install libxerces-c3.1 libxerces-c-dev
sudo apt-get install swig liblua5.3-dev python3-dev default-jdk
sudo apt-get install libgtest-dev

安装RobWorkStudio依赖（可以不安装）：

sudo apt-get install qtbase5-dev

获取源码并编译：

获取源码：

git clone https://gitlab.com/sdurobotics/RobWork.git

准备编译目录：

cd RobWork
mkdir Build
mkdir Build/RW
mkdir Build/RWStudio
mkdir Build/RWSim
mkdir Build/RWHardware

执行cmake：

cd Build/RW
cmake -DCMAKE_BUILD_TYPE=Release ../../RobWork
make -j4

编译RobWorkStudio：

For RobWorkStudio:

cd ~/RobWork/Build/RWStudio
cmake -DCMAKE_BUILD_TYPE=Release ../../RobWorkStudio
make -j4

配置环境，编辑~/.bashrc添加：

#ROBWORK#
export RW_ROOT=~/RobWork/RobWork/
export RWS_ROOT=~/RobWork/RobWorkStudio/