This section provides instructions on building the SDK.

Install requirements

• The DYNAMIXEL SDK requires GNU gcc ver. 5.4.0 20160609 or higher
• To check the version of your gcc compiler

  $ gcc -v
  

• Download the requirements

  $ sudo apt-get install gcc
  $ sudo apt-get install build-essential
  $ sudo apt-get install gcc-multilib g++-multilib # For cross-compiling
  

Build the SDK

• Check your system architecture

  $ uname -m
  

• Enter the appropriate build folder depending on your system and build the SDK

  $ cd DynamixelSDK/c++/build/linux64 # for 64-bit systems
  $ sudo make install
  

• make sure to enter the correct folder according to your system architecture.
  • linux64 for 64-bit systems
  • linux32 for 32-bit systems
  • linux_sbc for ARM-based SBCs like Raspberry Pi
• If the build completes successfully, you should see the .so file generated inside the build folder.

  $ ls
  libdxl_x86_cpp.so Makefile
  

• Grant permission to access the port

  $ sudo chmod 666 /dev/ttyUSB0
  

• Common make commands for building the SDK

  $ make              # Compile the source code and generate binaries
  $ make install      # Install the library files to the system
  $ make clean        # Remove all build files and reset the build environment
  $ make uninstall    # Remove files installed by 'make install' from the system
  $ make reinstall    # Reinstall by cleaning, rebuilding, and installing again
  

CMake Build

• Latest DYNAMIXEL SDK supports CMake build.

Build System Update

The existing OS-specific make build system has been unified into a single CMake-based build system.

Build with CMake

Install build-essential, and cmake.

$ sudo apt-get install build-essential
$ sudo apt-get install cmake

Build the SDK. --target install option makes the library files installed to the system.
You can skip installing the library files by omitting the –target install option.

$ cd DynamixelSDK/c++
$ sudo cmake -B cmake_build
$ sudo cmake --build cmake_build --target install
$ sudo cmake --build cmake_build --target uninstall # Uninstall the library files from the system

Build result can be found in the cmake_build folder and the library files are installed to the system(/usr/local/lib/libdxl_cpp.so, /usr/local/include/dynamixel_sdk/).

Build the Example Code with CMake

The example code also supports unified CMake build.
The executable file can be found in the build folder.

$ cd DynamixelSDK/c++/example/protocol2.0
$ sudo cmake -B build
$ sudo cmake --build build
$ cd build
$ ./broadcast_ping

This section provides instructions on building the SDK.

Install requirements

• In this section, we used visual studio as the IDE for building the SDK.

  Download Visual Studio Community for Windows Desktop

  

Build the SDK

NOTE: This instruction assumes a 64-bit Windows system. If you are using 32-bit Windows, simply follow the same steps using the 32-bit version instead.

• Open the project solution file (dxl_x64_cpp.sln) located in the [DynamixelSDK folder]/c++/build/win64 directory.

  

• If below dialog appears, select OK. This will adjust the toolset settings depending on your version of Visual Studio and Windows.

  

• In the Solution Explorer on the right side, right-click the dxl_x64_cpp solution and select Build.

  

• The SDK build is complete.
• If the build was successful, the compiled library file will be saved at : [DynamixelSDK folder]/c++/build/[win64]/output/dxl_x64_cpp.dll

CMake Build

• Latest DYNAMIXEL SDK supports CMake build.

Build System Update

The existing OS-specific make build system has been unified into a single CMake-based build system.

Build with CMake

Install cmake from cmake download.
Download the msi file and install it.

Install Visual Studio build tools from Visual Studio download.
Start Visual Studio Installer and install the build tools.

After installation, open the x64 Native Tools Command Prompt for VS as administrator and navigate to the DynamixelSDK/c++ directory.
Build the SDK. --target install option makes the library files installed to the system.
You can skip installing the library files by omitting the –target install option.

$ cd DynamixelSDK/c++
$ cmake -B cmake_build
$ cmake --build cmake_build --target install
$ cmake --build cmake_build --target uninstall # Uninstall the library files from the system

Build result can be found in the cmake_build folder and the library files are installed to the system(C:\Program Files (x86)\dynamixel_sdk).

Build the Example Code with CMake

The example code also supports unified CMake build.
The executable file can be found in the build/Debug folder.

$ cd DynamixelSDK/c++/example/protocol2.0
$ cmake -B build
$ cmake --build build
$ cd build/Debug
$ set PATH=C:\Program Files (x86)\dynamixel_sdk\bin;%PATH%
$ broadcast_ping.exe

Maintenance is in progress. We apologize for your inconvenience. The manual is available in the near future.