Robotics Library

Frequently Asked Questions

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General Project-related, License, Citations

How do I get started really quickly and see if RL suits my project's needs?

If you are new to RL, we recommend to choose the Ubuntu Installation, which is the most convenient way to try out RL. We would even recommend to set up a virtual machine with Ubuntu just for trying out and inspecting RL. You can add the Launchpad repository, install the latest version with your package manager and run the examples. Then, follow the tutorials and learn how to develop with RL.

May I use RL in my project or in my company?

Almost certainly yes. It is used in many research projects and commercial companies. RL itself uses the very permissive BSD 2-clause license. Depending on your application, you may need to link dependencies that have other open source licenses, please check the license page for details.

Why is the last source code update so long ago?

RL is actually developed in an internal SVN, which contains very little but some undisclosed software. For that reason, we publish only rather stable versions and then take the time to branch the 99% of it which are open source. The visible sourceforge activity is of course centered around these publications.

How can I cite RL in my scientific publication?

Thank you! The most recent overview can be found in Markus' PhD thesis. Reference is usually "Markus Rickert. Efficient Motion Planning for Intuitive Task Execution in Modular Manipulation Systems. Dissertation, Technische Universität München, Munich, Germany, 2011."

@phdthesis{
	Rickert2011a,
	address = {Munich, Germany},
	author = {Markus Rickert},
	school = {Technische Universit{\"{a}}t M{\"{u}}nchen},
	title = {Efficient Motion Planning for Intuitive Task Execution in Modular Manipulation Systems},
	type = {Dissertation},
	url = {http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20110719-981979-1-6},
	year = {2011}
}

You can also cite or link to the website in your papers, referring to "Robotics Library" or "RL" and the website http://www.roboticslibrary.org/

Robotics Library (RL)\footnote{\url{http://www.roboticslibrary.org/}}

Building and Dependencies, OS-independent

CMake asks for Intel IPP: What do I really need - IPP or Eigen?

In short: You only need Eigen 3 and the latest Robotics Library. From version 0.5.1 on, Robotics Library moved from IPP to Eigen. Eigen is much easier to install and to use, and its performance is comparable. You do not need Intel IPP, and it is no longer used. Please make sure your source is at least version 0.5.1.

Eigen throws assert errors when compiling?

Eigen makes heavy use of vector functions and therefore needs 128 bit aligned data. If that happens within your code (usually on 32-bit systems), please follow the explanation of the assertion on unaligned arrays. If you are sure the mistake is within our code, please let us know.

Applications or visualization examples of RL segfault or crash shortly after or when a visualization window is opened? More precisely: Segfaults with SOLID in the stack trace are thrown. Or, SOLID does not compile or crashes.

This is an evil bug within SOLID, as it does not show up until runtime. Make sure you use a proper version of SOLID, either one installed from Launchpad or patch SOLID directly. Have a look at the build instructions for Ubuntu to see how to build a correct binary.

Running Programs

Executables or demos cannot run because the DLL "QtOpenGL4.dll" or similar is not found, even though I installed everything correctly? (Windows)

Please make sure you correctly set the system variables QTDIR, RL_DIR, and PATH according to the installation instructions.

Executables or demos cannot run because the shared object "librlkin.so.0.6.0" or similar is not found, even though I installed everything correctly? (Linux, often Ubuntu >= 12.04)

CMake may by default install into specific folders like /usr/local/lib/x86_64-linux-gnu which may not be automatically indexed. You can add that directory to ldconfig following this Stackoverflow answer.