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1
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2 Build system
3 ------------
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4 Stage is now built using the CMake build system (version 2.4.7 or
5 newer). This has two main advantages over the old GNU
6 autoconf/automake system: (i) it is much faster; (ii) CMake can create
7 native build files for Windows and Mac OS X, which will help Stage
8 become more portable.
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9
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10 Dependencies
11 ------------
12 Building Stage requires the following libraries:
13
14 - FLTK 1.1.x
15 - OpenGL
16 - libpng
17 - ltdl (Libtool)
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18
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19 (Since 3.1.0, Stage no longer depends on GLib-2)
20
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21 Configuring the build
22 ---------------------
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23 Unpack the distribution or check it out from SVN. Change directory to
24 the top level of the Stage source tree.
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26 First, you may need to help CMake find your the libraries on which
27 Stage depends. For example, if you use MacPorts on OS X, packages are
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28 usually installed in `/opt/local`, which is not in CMake's default
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29 system search path. Add your non-standard software directories to
30 CMake's search paths by setting environment variables, e.g. in bash:
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31
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32 $ export CMAKE_INCLUDE_PATH=/opt/local/include
33 $ export CMAKE_LIBRARY_PATH=/opt/local/lib
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34
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35 If you want to use Player with Stage, install Player first, then make
36 sure that pkg-config can find it. Test it like so:
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37
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38 $ pkg-config --modversion playercore
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40 This should output the version number of the Player installation
41 (probably 2.2.0 or later). If not, add the location of Player's
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42 pkg-config file to your `PKG_CONFIG_PATH`, eg. in bash, and replacing <Player installation prefix> with the correct directory, do:
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43
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44 $ export PKG_CONFIG_PATH+=<Player installation prefix>/lib/pkgconfig
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45
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46 Now that the supporting software is set up, you can decide where you
47 want to install Stage. The default installation directory varies by
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48 system, but is often `/usr/local` on Unix variants. This is easy and is
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49 often a good choice, but has the disadvantage that installation needs
50 root/sudo priviliges. To install in the default location, do:
51
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52 $ cmake .
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53
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54 If you wish to install Stage elsewhere, define the `CMAKE_INSTALL_PATH`
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55 path variable when invoking cmake. To do this, use this command,
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56 substituting `<prefix>` with your chosen installation
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57 directory.
58
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59 $ cmake -DCMAKE_INSTALL_PREFIX=<prefix> .
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60
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61 For example to install in `$HOME/playerstage`, do:
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62
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63 $ cmake -DCMAKE_INSTALL_PREFIX=$HOME/playerstage .
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64
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65 Cmake will generate makefiles specifically for your machine. When this
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66 is done, you can inspect and edit the build settings by using ccmake:
67
68 $ ccmake .
69
70 or by editing the file CMakeCache.txt manually.
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71
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72 Building
73 --------
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74 In the top level directory of the source tree, do:
75
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76 $ make
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77
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78 Installing
79 ----------
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80 In the top level directory of the source tree, do:
81
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82 $ make install
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83
84 (You may need to run this command as root or sudo, depending on the
85 install location).
86
87 Stage will install its components in various directories, for example:
88
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89 <prefix>/bin (executables, including the 'stage' program)
90 <prefix>/lib (libraries, including libstage)
91 <prefix>/share (contains data resources, such as images)
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92
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93 Setup
94 -----
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95 You must ensure that the dynamic library libstage.so (or
96 libstage.dylib, or libstage.dll, depending on your platform) can be
97 found by your system's library loader. The method for doing this
98 varies by platform.
99
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100 On Linux, using bash:
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101
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102 $ export LD_LIBRARY_PATH=<prefix>/lib
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103
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104 On OS X, using bash:
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105
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106 $ export DYLD_LIBRARY_PATH=<prefix>/lib
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107
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108 If you plan to use Stage plugins, you also need to set the `STAGEPATH`
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109 environment variable to include the directory that contains your
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110 plugins. E.g. in bash, do:
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111
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112 $ export STAGEPATH=/usr/local/lib
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113
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114 If you installed Stage somewhere other than `/usr/local`, substitute
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115 your install prefix:
116
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117 $ export STAGEPATH=<stage install prefix>/lib
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118
119 If you are using Stage with Player, you probably don't need to set the
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120 `STAGEPATH`. However, you may need to set the `PLAYERPATH` to include
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121 Stage's installed lib directory instead.
122
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123 Testing
124 -------
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125 To test your Stage installation, do:
126
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127 $ <prefix>/bin/stage worlds/simple.world
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128
129 You should see a window appear, showing some robots. You can change
130 the camera point of view by holding down the 'ctrl' key and moving the
131 mouse pointer. If this works, you are ready to write your own robot
132 simulations using libstage.
133
134 If you plan to use Stage plugins, you can test that plugins are
135 working:
136
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137 $ <prefix>/bin/stage worlds/fasr.world
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138
139 You should see a window appear, showing some robots. Try pressing the
140 'p' key to pause and un-pause the simulation, to check that the robots
141 are working. If this works, you are ready to write Stage plugins.
142
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143 Next steps
144 ----------
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145 - read the Stage manual, available from the Player Project website
146 (also buildable from the docsrc directory in the source tree
147 (requires doxygen)).
148
149 - look at the examples provided in the worlds and examples
150 directories.
151
152
153 Enjoy using Stage -- rtv
154
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155 "All the world's a stage, and all the men and women merely players"
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156 Wm. Shakespeare - "As you like it"
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