Quickstart Guide - CMake

Dependencies

liburdf currently depends on the following libraries:

• TinyXML2
• loguru
• Eigen3
• cxxopts
• assimp

These are mainly for developers or for building language interfaces:

• pybind11
• googletest

These dependencies are automatically fetched and compiled during the build process no sperate installation is required.

2.1.4.1 Prerequisites

1. C++17 compatible compiler (GCC 7.1+, Clang 5.0+, MSVC 2017+)
2. CMake (version 3.10+)

2.1.4.2 Configuration Options

Option	Description	Default
LIBURDF_BUILD_SHARED	Build shared library	OFF
LIBURDF_BUILD_SCRIPTS	Enable building C++ scripts	ON
LIBURDF_BUILD_TESTS	Enable building C++ tests	ON
LIBURDF_BUILD_PYTHON3	Enable building Python3 binaries	ON
LIBURDF_INSTALL	Enable installation of liburdf	ON

2.1.4.3 Build

We recommend using Ninja for faster builds. Run the following commands to build the project:

mkdir build && cd build
cmake -G Ninja  ..
ninja
ninja install 

By default, this will use the MSVC compiler on Windows and the default CMake options. To use a different compiler with Ninja, run:

cmake -G Ninja -DCMAKE_CXX_COMPILER=g++ -DCMAKE_C_COMPILER=gcc ..
make 
make install 

for unix systems or MinGW on Windows, If you prefer not to use Ninja, you can build the project using Unix Makefiles:

mkdir build && cd build
cmake -G "Unix Makefiles" ..
make
make install 

These commands will build and install the static/shared library under the lib/ directory and the include files in the include/ directory of the build folder.

For Python bindings build and installation, enable the -DLIBURDF_BUILD_PYTHON3=ON flag, and run the following command from the root of the project to install them locally.

pip install --user .  

Note that Python bindings are not currently tested, many bugs exist. Use them at your own risk, or feel free to contribute