libbarrett

This is a Git fork of official libbarrett SVN repository maintained by Barrett Technology's. See README.orig for the original documentation provided with libbarrett. This README file includes updated installation instructions for Ubuntu 14.04 and Ubuntu 12.04 on the amd64 architecture.

Installation Instructions

Ubuntu 12.04

Install system dependencies:

apt-get install libeigen2-dev

The version of libconfig++ shipped with Ubuntu 12.04 is too old to be used by libbarrett. Additionally, libbarrett requires a modified version of libconfig++ that adds a public getCSettings method.

We will build this patched version of libconfig from source:

wget http://web.barrett.com/svn/libbarrett/dependencies/libconfig-1.4.5-PATCHED.tar.gz
tar xzf libconfig-1.4.5-PATCHED.tar.gz
cd libconfig-1.4.5
debuild -i -us -uc -b

This will generate a collection of .deb files in teh parent directory. You should install using the following command:

sudo dpkg -i ../libconfig*.deb

Ubuntu 14.04

Install system dependencies:

apt-get install libconfig-dev libconfig++-dev  libeigen2-dev # Ubuntu 14.04

Libbarrett requires a modified version of libconfig++ that adds a public getCSettings method. You need to modify /usr/include/libconfig.h++ by a public: block:

// BARRETT(DC): Added this inline method to allow simultaneous libconfig and
//              libconfig++ use.
config_setting_t *getCSetting() const { return(_setting); }

Building

Finally, you can build libbarrett from source:

mkdir build && cd build
cmake -DNON_REALTIME:bool=true ..
make

This assumes that you are running the standard Ubuntu kernel. If you want real-time guarantees, you should install Xenomai and set the NON_REALTIME flag to false.