Download and Compilation¶

Dependencies¶

• python2.x
• C++
• Boost (optional), with the program_options lib only; Boost is optional and only used for the command line utility.

Configuration¶

The first step is to configure your waf environment. For this, assuming that you are in the root directory of libdynamixel, you have to run the command:

./waf configure

If everything is okay, you should expect an output like this:

Setting top to                           : /path/to/libdynamixel
Setting out to                           : /path/to/libdynamixel
Checking for 'g++' (C++ compiler)        : not found
Checking for 'clang++' (C++ compiler)    : /usr/bin/clang++
Checking boost includes                  : 1_58
Checking boost libs                      : ok
CXXFLAGS:['-D_REENTRANT', '-Wall', '-finline-functions', '-Wno-inline',
    '',     '-fPIC', '-O3', '-std=c++11', '-ftemplate-depth-128',
    '-Wno-sign-compare']
'configure' finished successfully (0.221s)

The actual ouput may differ, depending on your configuration and installed libraries.

Waf should automatically detect the libraries if they where installed in the default folders, but if it doesn’t, you can use the following command-line options to indicate where they are:

• --boost-includes /path/to/boost-includes [.h]
• --boost-libs /path/to/boost-libraries [.a, .so, .dynlib]

Build¶

The second step is to run the build command:

./waf build

Depending on your compiler, there may be some warnings, but the output should end with the following line:

'build' finished successfully (time in sec)

Installation¶

It is necessary to have the library installed globally (or to the path given with --prefix) if you want to use it in your projects:

./waf install

When globally installed, this command should require super-user rights (e.g. sudo).

Configuration of the serial interfaces¶

Please ensure that you have the proper rights to access the serial interfaces. On GNU/Linux, you might have to add your user to the dialout group and log out.

Building the documentation¶

Install sphinx via pip:

sudo pip install Sphinx
sudo pip install sphinxcontrib-bibtex

Install the Resibots theme for Sphinx:

git clone https://github.com/resibots/sphinx_resibots_theme
export SPHINX_RESIBOTS_THEME="/home/me/path/to/sphinx_resibots_theme"

Install breathe via pip:

sudo pip install breathe

Install doxygen via your package manager (e.g. apt-get / brew):

apt-get install doxygen

In the doc directory:

make html

About sphinx and ReStructuredText:

• There is a tutorial,
• Primer for ReStructuredText, the markup language of Sphinx,
• markup specific to Sphinx,
• About C++ in Sphinx
• Breathe (bridge between sphinx and doxygen)