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Communication and controls library for Barrett products
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libbarrett -- README Barrett Technology 2013-07-17 Libbarrett is a real-time controls library written in C++ that runs Barrett Technology's products, including the WAM Arm and the BH8-280 BarrettHand. For support, please email: support@barrett.com To build and install libbarrett, run: cmake . make sudo make install Headers and shared libraries will be installed to their typical locations for your system. Configuration files will be installed to the /etc/barrett/ directory. A copy of the examples/ directory will be placed in your home folder. To get started, look through libbarrett's example code. For additional documentation, see: http://support.barrett.com/ - Barrett product support site http://barrett.com/robot/support.htm - File download area http://web.barrett.com/libbarrett/ - API documentation for libbarrett It is possible to use CMake to generate several output formats, including Eclipse CDT4 project files. For details, see: http://www.paraview.org/Wiki/Eclipse_CDT4_Generator To generate Eclipse project files, run: cmake . -G"Eclipse CDT4 - Unix Makefiles" Then import the generated project into your Eclipse workspace using: File -> Import -> General -> Existing Projects into Workspace In order to use libbarrett as a hard real time library, you must have the Xenomai (http://www.xenomai.org/) real time co-kernel and its RTSocketCAN driver installed on your system. If a hard real time guarantee is not important for your application, you may use the SocketCAN driver from the standard Linux kernel. To use the Linux SocketCAN driver, add "-DNON_REALTIME=true" to your cmake command. For additional dependencies, see: http://web.barrett.com/svn/libbarrett/dependencies/ Additional Makefile targets include: make install_config # Update or install configuration files only make package # Package the library as a tar-ball This version of libbarrett is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation. Contact us at: support@barrett.com http://www.barrett.com/ +1-617-252-9000 Barrett Technology 625 Mount Auburn Street Cambridge, MA 02138 USA
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