Please note that Mac OS support of the Robotics Library is in an experimental stage. The following tutorial has only been tested for High Sierra and may need to be adapted for other setups.

Prerequisites

In order to compile the dependencies of RL, this tutorial uses the Homebrew project. First, install the Xcode Command Line Tools (CLT) and Homebrew as described on the Homebrew website.

Add the RL Homebrew repository with the following command.

In 1984, Apple debuted the operating system that is now known as the 'Classic' Mac OS with its release of the original Macintosh System Software. The system, rebranded 'Mac OS' in 1996, was preinstalled on every Macintosh until 2002 and offered on Macintosh clones for a short time in the 1990s. Build RL on Mac OS The Robotics Library uses CMake as a build system. It can generate project files for various platforms, e.g., Makefiles or XCode project files. Please note that Mac OS support of the Robotics Library is in an experimental stage.

In order to compile RL, install all of its dependencies from Homebrew with the following command.

In order to generate the API documentation, you need to install the following software packages as well.

For multi core compilation support (e.g., quad core), set these variables before running the other commands.

Building the Robotics Library

Download the source code and additional examples and extract the archives. Open a terminal and change into the directory of the extracted source.

Create a build directory.

Build the library by executing the following commands.

Additionally, the following commands can be used to build the API documentation on demand and to run tests included in the project.

Build Configuration

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You can configure the build process by specifying a number of CMake options. Building of selected libraries, demos, or extra applications can be disabled in order to avoid certain dependencies if they are not required. The following table shows an overview of all RL specific parameters and their default values. These options can be directly appended to the cmake command. For a detailed overview of all options, you can run the interactive interface of CMake ccmake.

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