Install DART on Ubuntu | DART: Dynamic Animation and Robotics Toolkit

Build Environments

Supported Platforms

DART 6.8 supports Ubuntu 32 and 64 bit 16.04 (Xenial), 18.04 (Bionic), 18.10 (Cosmic), and 19.04 (Disco) systems.

Install DART using Ubuntu packages

If you want to use dart as a dependent library for your development, then installing dart using Ubuntu packages is the most convenient way.

Adding Personal Package Archives (PPA’s) for DART and dependencies

sudo apt-add-repository ppa:dartsim/ppa
sudo apt-get update  # not necessary since Bionic

Install DART

Install the core library
```
sudo apt-get install libdart6-dev
```
Install optional components

e.g., installing collision-bullet component:
```
sudo apt-get install libdart6-collision-bullet-dev
```
Install everything
```
sudo apt-get install libdart6-all-dev
```

Install DART from source

Install Required Dependencies

Make sure you have removed the DART packages:

sudo apt-get remove libdart*

Install required dependencies. A clean Ubuntu system will need:

sudo apt-get install build-essential cmake pkg-config git
sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
sudo apt-get install libopenscenegraph-dev

Note: libopenscenegraph-dev is not an actual required dependency for building the core component of DART, but it’s necessary to build OpenSceneGraph based examples.

Install Optional Dependencies

NLopt Optimization Support

Xenial and Bionic
```
sudo apt-get install libnlopt-dev
```
Since Cosmic
```
sudo apt-get install libnlopt-cxx-dev
```

IPopt Optimization Support

sudo apt-get install coinor-libipopt-dev

Bullet Collision Detector Support
```
sudo apt-get install libbullet-dev
```
ODE Collision Detector Support
```
sudo apt-get install libode-dev
```
VoxelGridShape
```
sudo apt-get install liboctomap-dev
```
DART Planning Module
Warning: The DART planning module is deprecated.
```
sudo apt-get install libflann-dev
```

DART Parsers: SKEL, URDF, SDF, VSK

sudo apt-get install libtinyxml2-dev
sudo apt-get install liburdfdom-dev

GLUT GUI

sudo apt-get install libxi-dev libxmu-dev freeglut3-dev

OpenSceneGraph GUI

Note: If you’re going to build OpenSceneGraph based examples, then please install OpenSceneGraph.
```
sudo apt-get install libopenscenegraph-dev
```

Build and Install DART

Clone the repository into a directory in your home folder:
```
git clone git://github.com/dartsim/dart.git
```
Change directory to the DART repository and checkout the latest tag of DART 6, v6.8.2:
```
cd dart
git checkout tags/v6.8.2
```
Create a build directory:
```
mkdir build
cd build
```
Configure and build DART:
```
cmake ..
make -j4
```

Build Options
- DART tests, tutorials, examples
  
  If you want to build the tests, tutorials, or examples, run follows:
```
make -j4 tests
make -j4 tutorials
make -j4 examples
```
  Once you successfully build the tests, you can run all the tests at once as:
```
$ make -j4 test  # or cmake -j4
```
  or run a particular test as:
```
$ ./unittests/<category_name>/<test_name>  # e.g., ./unittests/unit/test_Uri
```
  Also, you can run tutorials and examples as:
```
$ ./bin/<executable_name>  # e.g., ./bin/rigidCubes
```
Build Type

You can specify the build type [ Debug | Release | RelWithDebInfo | Profile ] as:
```
cmake .. -DCMAKE_BUILD_TYPE=Debug
```
The default build type is Release.

Install DART:
```
sudo make install
```
If you want to uninstall DART, then:
```
sudo make uninstall
```

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