Build / installation
Plain cmake
To build this library standalone so that you can build you own applications using this library, follow the usual cmake procedure:
$ cd <clone of this repository>
$ mkdir build && cd build
$ cmake ..
$ make
$ sudo make install
This will install the library into your system so that it can be used by other cmake projects directly.
Inside a ROS / ROS 2 workspace
The ur_client_library
is available in all maintained ROS distribution and can be installed
using
$ sudo apt install ros-<distro>-ur-client-library
Unless you explicitly want to contribute to this library we recommend using the binary installation instead of building from source as explained below.
ROS noetic
If you want to build this library inside a ROS workspace, e.g. because
you want to build the Universal Robots ROS
driver
from source, you cannot use catkin_make
directly, as this library is
not a catkin package. Instead, you will have to use
catkin_make_isolated
or catkin
build
to build your workspace.
ROS 2
If you want to build this library inside a ROS 2 workspace, e.g. because you want to build the Universal Robots ROS2 driver from source, simply clone this project into your workspace and build your workspace as usual.
Use this library in other projects
When you want to use this library in other cmake projects, make sure to
Add
find_package(ur_client_library REQUIRED)
to yourCMakeLists.txt
add
ur_client_library::urcl
to the list oftarget_link_libraries(...)
commands inside yourCMakeLists.txt
file
As a minimal example, take the following “project”:
/*main.cpp*/
#include <iostream>
#include <ur_client_library/ur/dashboard_client.h>
int main(int argc, char* argv[])
{
urcl::DashboardClient my_client("192.168.56.101");
bool connected = my_client.connect();
if (connected)
{
std::string answer = my_client.sendAndReceive("PolyscopeVersion\n");
std::cout << answer << std::endl;
my_client.disconnect();
}
return 0;
}
# CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
project(minimal_example)
find_package(ur_client_library REQUIRED)
add_executable(db_client main.cpp)
target_link_libraries(db_client ur_client_library::urcl)