Skip to content

Latest commit

 

History

History
92 lines (70 loc) · 3.06 KB

README.md

File metadata and controls

92 lines (70 loc) · 3.06 KB

CMake Project with an Installed Drake

This uses the CMake find_package(drake) mechanism to find an installed instance of Drake.

Instructions

These instructions are only supported for Ubuntu 22.04 (Jammy).

###############################################################
# Install Prerequisites
###############################################################

# Download Drake source to /opt/drake/ and install
# various system dependencies
sudo setup/install_prereqs

###############################################################
# Install Drake to $HOME/drake
###############################################################

# There are a few options to install drake:

# 1) A specific version (date-stamped)
curl -O https://drake-packages.csail.mit.edu/drake/nightly/drake-20240214-jammy.tar.gz

# 2) The latest (usually last night's build)
curl -O https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
tar -xvzf drake-latest-jammy.tar.gz -C $HOME

# 3) Manual Installation
git clone https://github.com/RobotLocomotion/drake.git
(cd drake && mkdir build && cd build && cmake -DCMAKE_INSTALL_PREFIX=$HOME/drake .. && make)

# 4) Manual Installation w/ Licensed Gurobi
# Install & setup gurobi (http://drake.mit.edu/bazel.html?highlight=gurobi#install-on-ubuntu)
git clone https://github.com/RobotLocomotion/drake.git
(cd drake && mkdir build && cd build && cmake -DCMAKE_INSTALL_PREFIX=$HOME/drake -DWITH_GUROBI=ON .. && make)

###############################################################
# Build Everything
###############################################################

git clone https://github.com/RobotLocomotion/drake-external-examples.git
cd drake-external-examples/drake_cmake_installed
mkdir build && cd build
cmake -DCMAKE_PREFIX_PATH=$HOME/drake ..
make

# (Optionally) Run Tests
make test

Examples

Drake-specific examples:

Developer Testing

If you are a Drake Developer making build or API changes that may affect the downstream interface, please test this locally on your system.

These build instructions are adapted from those above, but will use an existing source tree of Drake (but not installing it to $HOME/drake), build this project, and then run all available tests:

# Build development version of Drake, ensuring no old artifacts are present.
cd drake  # Where you are developing.
rm -rf build && mkdir build && cd build
cmake .. # Configure Gurobi, Mosek, etc, if needed.
# Build locally.
make
# Record the build's install directory.
drake_install=${PWD}/install

# Build this project using a development version of Drake.
cd ..
# Clone this repository if you have not already.
git clone https://github.com/RobotLocomotion/drake-external-examples.git
cd drake-external-examples/drake_cmake_installed
# Follow "Install Prerequisites" in the instructions linked above if you
# have not already.
mkdir build && cd build
cmake -DCMAKE_PREFIX_PATH=${drake_install} ..
make
ctest