title | supplemental |
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End of support releases |
true |
Due to limited resources, we cannot offer indefinite support for older operating systems or third-party libraries. If you need to use these, you can use an old release of Drake.
The last version with support for Ubuntu 18.04 is v1.1.0:
The last version with support for Ubuntu 16.04 is v0.11.0:
Download the appropriate binary release (v0.9.x) for your platform from
https://github.com/RobotLocomotion/drake/releases.
Simply extract the archive file into a folder of your choice (mine is called drake-distro
).
To view the original MATLAB implementation, you may use the tag last_sha_with_original_matlab . Note, however, that the dependencies on this branch are out of date and we do not expect that you will be able to easily compile/run the code, and do not provide support for this.
To run the MATLAB examples, change directories (in MATLAB) into the drake-distro/drake
folder and at the MATLAB prompt do:
addpath_drake
Then cd
into the examples directories and try some things out. Here are a few fun ones to get you started:
runLQR
in theexamples/CartPole
directoryrunLQR
in theexamples/Quadrotor2D
directoryRimlessWheelPlant.run()
in theexamples/RimlessWheel
directoryStateMachineControl.run()
in theexamples/PlanarMonopodHopper
directory
Please note that you will have to run addpath_drake
each time you start MATLAB, or add it to your startup.m.
The version of the standard C++ libraries that are shipped with the Linux distribution of MATLAB is severely outdated and can cause problems when running mex files that are built against a newer version of the standard. The typical error message in this case reports Invalid MEX-Files
.
To work around this issue, the symbolic link for the standard C++ library provided by MATLAB must be redirected to point to a more up-to-date version.
First, make sure that a suitable version of the standard library is installed:
sudo apt install g++-4.4
Now, the symbolic link in MATLAB must be updated to point to the version that was just installed in /usr/lib
. An example for MATLAB R2014a is shown below:
cd /usr/local/MATLAB/R2014a/sys/os/glnxa64
sudo rm libstdc++.so.6
sudo ln -s /usr/lib/gcc/x86_64-linux-gnu/4.4/libstdc++.so libstdc++.so.6