Build RL on MinGW-w64

Prerequisites

In order to compile RL and the dependencies on MinGW-w64 under MSYS2, you first need to install MSYS2 by using their Windows installer. Afterwards, update the package database and system packages via the following command.

pacman -Syu

You then need to install a compiler (e.g., the GNU Compiler Collection) and the cross-platform build system CMake ≥ 2.8.11. It is also recommended to use the Ninja build system. Select an environment and use the corresponding prefix when installing packages, e.g., mingw-w64-ucrt-x86_64- for 64-bit builds with UCRT.

pacman -S mingw-w64-ucrt-x86_64-cmake mingw-w64-ucrt-x86_64-gcc mingw-w64-ucrt-x86_64-ninja

A number of third-party libraries is required to build all components. It is recommended to get these dependencies from binary packages included in the distribution. In order to install them via the package manager, run the following command in a terminal.

pacman -S mingw-w64-ucrt-x86_64-boost mingw-w64-ucrt-x86_64-bullet mingw-w64-ucrt-x86_64-coin mingw-w64-ucrt-x86_64-eigen3 mingw-w64-ucrt-x86_64-libxml2 mingw-w64-ucrt-x86_64-libxslt mingw-w64-ucrt-x86_64-nlopt mingw-w64-ucrt-x86_64-ode mingw-w64-ucrt-x86_64-pqp mingw-w64-ucrt-x86_64-qt5-base mingw-w64-ucrt-x86_64-qt5-svg mingw-w64-ucrt-x86_64-solid3 mingw-w64-ucrt-x86_64-soqt

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

pacman -S mingw-w64-ucrt-x86_64-doxygen mingw-w64-ucrt-x86_64-graphviz

Building the Robotics Library

Download the source code and additional examples and extract the archives. Open a command line prompt matching your environment via the start menu, e.g., MSYS2 UCRT64. Change into the directory of the extracted source.

tar -xvzf rl-0.7.0.tar.gz
tar -xvzf rl-0.7.0-examples.tar.gz
cd rl-0.7.0

Create a build directory.

mkdir build
cd build

Build and install the library by executing the following commands.

cmake -G Ninja -D CMAKE_BUILD_TYPE=Release ..
ninja
ninja install

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

ninja doc
ctest --output-on-failure

If tests fail without reason, please send us a bug report including detailed results from the test cases, state your operating system, kernel, and chipset.

echo $MSYSTEM
uname -a
gcc --version
ctest -V --output-on-failure

Build Configuration

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 one of the available user interfaces of CMake or cmake-gui.

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