URViewer

A no frills 3D viewer for Universal Robots based on raylib.

Installation

Dependencies:

• raylib
• ur_rtde
• EPICS Base
• Boost (required by ur_rtde)

EPICS base and boost must be installed on your system. raylib and ur_rtde can be cloned and built with the project using FetchContent by setting -DFETCH_UR_RTDE=ON and -DFETCH_RAYLIB=ON (default). If you have installed these dependencies yourself, set those flags to OFF and you may need to set -Dur_rtde_DIR and -Draylib_DIR.

Building from Source

For now, no compiled binaries are provided for URViewer so you must build it from source. It has only been tested on Linux, though compiling for other operating systems should be possible.

# make a build directory
mkdir build && cd build

# Configure with cmake. If you don't have sudo, set the install prefix
# ~/.local is a good choice
cmake .. -DCMAKE_INSTALL_PREFIX=~/.local

# Compile...
make
# ...and optionally install
# make install