Installation¶

Instructions to install Manifold on all the platforms supported: major Linux distributions, Mac OS X and Windows.

Ubuntu Linux¶

Setup your computer to accept software from packages.osrfoundation.org:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable
`lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

Setup keys:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Install Manifold:

sudo apt-get update
sudo apt-get install libmanifold0-dev

Mac OS X¶

Manifold and several of its dependencies can be compiled on OS X with Homebrew using the osrf/simulation tap. Manifold is straightforward to install on Mac OS X 10.9 (Mavericks) or higher. Installation on older versions requires changing the default standard library and rebuilding dependencies due to the use of c++11. For purposes of this documentation, I will assume OS X 10.9 or greater is in use. Here are the instructions:

Install Homebrew, which should also prompt you to install the XCode command-line tools:

ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"

Run the following commands:

brew tap osrf/simulation
brew install manifold0

Windows¶

At this moment, compilation has been tested on Windows 7 and 8.1 and is supported when using Visual Studio 2013. Patches for other versions are welcome.

This installation procedure uses pre-compiled binaries in a local workspace. To make things easier, use a MinGW shell for your editing work (such as the Git Bash Shell with Mercurial), and only use the Windows cmd for configuring and building. You might also need to disable the Windows firewall.

Make a directory to work in, e.g.:

mkdir manifold-ws
cd manifold-ws

Clone and prepare the Ignition Math dependency:

hg clone https://bitbucket.org/ignitionrobotics/ign-math -b ign-math2
cd ign-math
mkdir build

In a Windows Command Prompt, load your compiler setup, e.g.:

"C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\vcvarsall.bat" amd64

In the Windows Command Prompt, configure and build:

cd ign-math\build
..\configure
nmake install

Clone Manifold:

cd ..\..\
hg clone https://bitbucket.org/osrf/manifold
cd manifold

Configure and build:

mkdir build
cd build
..\configure
nmake
nmake install

You should now have an installation of ign-manifold in manifold-ws/manifold/build/install.

Now build the examples:

cd ..\example
mkdir build
cd build
..\configure
nmake

Now try an example. In one Windows terminal run:

rndf_info <_your_rndf_file>

Install from sources (Ubuntu Linux)¶

For compiling the latest version of Manifold you will need an Ubuntu distribution equal to 14.04 (Trusty) or newer.

Make sure you have removed the Ubuntu pre-compiled binaries before installing from source:

sudo apt-get remove libmanifold0-dev

Setup your computer to accept software from packages.osrfoundation.org:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable
`lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

Setup keys:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Install prerequisites. A clean Ubuntu system will need:

sudo apt-get update
sudo apt-get install cmake pkg-config python ruby-ronn

Clone and prepare the Ignition Math dependency:

hg clone https://bitbucket.org/ignitionrobotics/ign-math -b ign-math2 /tmp/ign-math
cd /tmp/ign-math
mkdir build
cd build

Configure and build:

cmake ..
make -j4
sudo make install

Clone the repository into a directory and go into it:

hg clone https://bitbucket.org/osrf/manifold /tmp/manifold
cd /tmp/manifold

Create a build directory and go there:

mkdir build
cd build

Configure Manifold (choose either method a or b below):

Release mode: This will generate optimized code, but will not have debug symbols. Use this mode if you don’t need to use GDB.
cmake ../
Note: You can use a custom install path to make it easier to switch between source and debian installs:
cmake -DCMAKE_INSTALL_PREFIX=/home/$USER/local ../
B. Debug mode: This will generate code with debug symbols. Manifold will run slower, but you’ll be able to use GDB.
cmake -DCMAKE_BUILD_TYPE=Debug ../

The output from cmake ../ may generate a number of errors and warnings about missing packages. You must install the missing packages that have errors and re-run cmake ../. Make sure all the build errors are resolved before continuing (they should be there from the earlier step in which you installed prerequisites).

Make note of your install path, which is output from cmake and should look something like:

-- Install path: /home/$USER/local

Build Manifold:

make -j4

Install Manifold:

sudo make install

If you decide to install Manifold in a local directory you’ll need to modify your LD_LIBRARY_PATH:

echo "export LD_LIBRARY_PATH=<install_path>/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc

Now build the examples:

cd ../
mkdir build
cd build
cmake ..
make

Now try an example. In a terminal run:

rndf_info <_your_rndf_file>

Uninstalling Source-based Install¶

If you need to uninstall Manifold or switch back to a debian-based install when you currently have installed the library from source, navigate to your source code directory’s build folders and run make uninstall:

cd /tmp/manifold/build
sudo make uninstall