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Please note that Mac OS support of the Robotics Library is in an experimental stage. The following tutorial has only been tested for High Sierra and may need to be adapted for other setups.
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Prerequisites
In order to compile the dependencies of RL, this tutorial uses the Homebrew project. First, install the Xcode Command Line Tools (CLT) and Homebrew as described on the Homebrew website.
Add the RL Homebrew repository with the following command.
In order to compile RL, install all of its dependencies from Homebrew with the following command.
In order to generate the API documentation, you need to install the following software packages as well.
For multi core compilation support (e.g., quad core), set these variables before running the other commands.
Building the Robotics Library
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Download the source code and additional examples and extract the archives. Open a terminal and change into the directory of the extracted source.
Create a build directory.
Build the library by executing the following commands.
Additionally, the following commands can be used to build the API documentation on demand and to run tests included in the project.
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 the interactive interface of CMake ccmake
.Option | Description | Values |
---|---|---|
-D BUILD_DEMOS=ON | Enable/disable building the demo applications. | ON/OFF |
-D BUILD_DOCUMENTATION=OFF | Enable/disable building the API documentation. | ON/OFF |
-D BUILD_EXTRAS=ON | Enable/disable building the extra applications. | ON/OFF |
-D BUILD_RL_HAL=ON | Enable/disable building the RL::HAL library and its dependencies. | ON/OFF |
-D BUILD_RL_KIN=ON | Enable/disable building the RL::KIN library and its dependencies. | ON/OFF |
-D BUILD_RL_MATH=ON | Enable/disable building the RL::MATH library and its dependencies. | ON/OFF |
-D BUILD_RL_MDL=ON | Enable/disable building the RL::MDL library and its dependencies. | ON/OFF |
-D BUILD_RL_PLAN=ON | Enable/disable building the RL::PLAN library and its dependencies. | ON/OFF |
-D BUILD_RL_SG=ON | Enable/disable building the RL::SG library and its dependencies. | ON/OFF |
-D BUILD_RL_UTIL=ON | Enable/disable building the RL::UTIL library and its dependencies. | ON/OFF |
-D BUILD_RL_XML=ON | Enable/disable building the RL::XML library and its dependencies. | ON/OFF |
-D BUILD_SHARED_LIBS=ON | Enable/disable building shared libraries. | ON/OFF |
-D BUILD_TESTS=ON | Enable/disable building the test applications. | ON/OFF |
-D USE_QT5=ON | Prefer Qt5 over Qt4 if available. | ON/OFF |
macOS Big Sur elevates the most advanced desktop operating system in the world to a new level of power and beauty. Experience Mac to the fullest with a refined new design. Enjoy the biggest Safari update ever. Discover new features for Maps and Messages. Get even more transparency around your privacy.
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To see which model you have, click the Apple icon in your menu bar and choose About This Mac.
Make sure you’re ready to upgrade.
Before you upgrade, we recommend that you back up your Mac. If your Mac is running OS X Mavericks 10.9 or later, you can upgrade directly to macOS Big Sur. You’ll need the following:
- OS X 10.9 or later
- 4GB of memory
- 35.5GB available storage on macOS Sierra or later*
- Some features require an Apple ID; terms apply.
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Upgrading is free and easy
Upgrading from macOS Catalina 10.15 or Mojave 10.14?
Go to Software Update in System Preferences to find macOS Big Sur. Click Upgrade Now and follow the onscreen instructions.
Upgrading from an older version of macOS?
If you’re running any release from macOS 10.13 to 10.9, you can upgrade to macOS Big Sur from the App Store. If you’re running Mountain Lion 10.8, you will need to upgrade to El Capitan 10.11 first.
If you don’t have broadband access, you can upgrade your Mac at any Apple Store.
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For details about your Mac model, click the Apple icon at the top left of your screen and choose About This Mac. These Mac models are compatible with macOS Big Sur:
- MacBook (2015 or later)
- MacBook Air (2013 or later)
- MacBook Pro (Late 2013 or later)
- Mac mini (2014 or later)
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- iMac Pro (2017 or later)
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Dictation, Voice Control, and Voice Memos
Requires a microphone (built-in or external).
Gestures
Requires a Multi-Touch trackpad, Force Touch trackpad, Magic Trackpad, or Magic Mouse.
Force Touch gestures require a Force Touch trackpad.
VoiceOver gestures require a Multi-Touch trackpad, Force Touch trackpad, or Magic Trackpad.
Photo Booth
Requires a FaceTime or iSight camera (built-in or external) or USB video class (UVC) camera.
FaceTime
Audio calls require a microphone (built-in or external) and broadband internet connection.
Video calls require a built-in FaceTime camera, an iSight camera (built-in or external), or a USB video class (UVC) camera; and broadband internet connection.
Apple TV
High dynamic range (HDR) video playback is supported by the following Mac models:
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- iMac Pro (2017 or later)
- Mac Pro (2019) with Pro Display XDR
Dolby Atmos soundtrack playback is supported by the following Mac models:
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Sidecar
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Supported by the following Mac models:
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- MacBook Air (2018 or later)
- MacBook Pro (2016 or later)
- Mac mini (2018 or later)
- iMac (late 2015 or later)
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Continuity Camera
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Handoff
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Auto Unlock
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Approve with Apple Watch
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Phone Calling
Hindsight 20/20 mac os. Requires an iPhone with iOS 8 or later and an activated carrier plan.
SMS
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Home
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AirDrop
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AirPlay
AirPlay Mirroring requires an Apple TV (2nd generation or later).
AirPlay for web video requires an Apple TV (2nd generation or later).
Peer-to-peer AirPlay requires a Mac (2012 or later) and an Apple TV (3rd generation rev A, model A1469 or later) with Apple TV software 7.0 or later.
Time Machine
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Boot Camp
Allows Boot Camp installations of Windows 10 on supported Mac models.
Exchange Support
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Windows Migration
Supports OS X 10.7 or later and Windows 7 or later.
App Store
Available only to persons age 13 or older in the U.S. and many other countries and regions.
Photos
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The improved Retouch tool is supported on the following Mac models:
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