Bioloid Control

Building "bioloidcontrol" physics

My build environment is Fedora-centric, though these instructions should be applicable to any *NIX environment.

Also, because I"ve used "autoconf" machinery, it should be buildable on Windows (please let me know if anyone has any problems/insight into doing a Windows build).

Building "bioloidcontrol" main/bioloid

Just a quick thing : main/bioloid requires "yum install ncurses-devel" before it can be built on Fedora.

Building "bioloidcontrol" viewer/viewer

Just a quick thing : viewer/viewer requires "yum install freeglut freeglut-devel mesa-libGLU-devel" before it can be built on Fedora.

Building "bioloidcontrol" physics/physics

This is more involved, since the physics simulation has a dependencies on :

General installation requirements for Fedora

Fedora installation :

# yum install svn automake gcc-c++
# yum install mesa-libGLU-devel freeglut-devel libXmu-devel
# yum install boost boost-devel asio-devel 

Installation of "asio" libraries - Easy way

In boost<1.35, there is no asio library (for the TCPIP sockets) so the asio-devel rpm is required from the fedora repositories : "yum install asio-devel".

Installation of "asio" libraries - Long way

Alternatively, one can build the asio library from scratch :

curl -O
tar -xzf asio-1.0.0.tar.gz
cd asio-1.0.0

Here be demons : on my x64 machine, memory usage "exploded"...


... It then needs installing so that it"s available to gcc generally ...

make install

Installation of "ODE" libraries

Although ODE version 0.9.3 is available via the repositories, and most of the development work was done with it, reading between the lines on the ODE forums implies that it"s probably preferable (stability-wise for one) to install "ODE-0.10.1" from source.

curl -O
tar -xzf ode-0.10.1.tar.gz
cd ode-0.10.1

To test that the build of ODE works, within the ode-0.10.1 directory :

cd drawstuff/dstest

Then, so that the code can link in correctly (without installing ODE machine-wide), create a link in the physics directory to the ode-0.10.1 directory.

cd bioloidcontrol/physics
ln -s PATH-TO-DIRECTORY/ode-0.10.1 ode

Enabling the perl test-harness

This is only required if you want to play around with the "perl" tester in the misc/ directory - choose one of :

Building the bioloidcontrol Physics Simulator

To finally build the physics stuff, from within the bioldoidcontrol/physics directory, do :

# The following is then sufficient for a standard recompile & build :