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environment-variables-configuration.md

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Enviroment Variables Configuration

During the configuration process, the robotology-superbuild installs the setup.sh (in Linux and macOS) or the setup.bat, addPathsToUserEnvVariables.ps1 and removePathsFromUserEnvVariables.ps1 (in Windows) scripts.

These scripts can be used to automatically add to the enviroment variables of the process the variables necessary to successfully launch the software installed by the robotology-superbuild, even if it is not installed in the system install prefix.

However, for some use cases it may be necessary to manually deal with the necessary enviroment modification, and so all the enviroment variables that are needed by the software installed by the robotology-superbuild are documented in this page.

Generic configuration

In the rest of the document, we assume that the environment variable ROBOTOLOGY_SUPERBUILD_SOURCE_DIR points to the directory where you cloned the robotology-superbuild repository, and ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIXto the directory where you have installed the robotology-superbuild.

For what regards the Path variable, you need to append $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX\bin to it.

For what regards the YARP_DATA_DIRS environment variable, you must append the following directories:

  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX\share\yarp
  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX\share\iCub
  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX\share\ergoCub
  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX\share\ICUBcontrib

For what regards the CMAKE_PREFIX_PATH environment variable, you need to append $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX to it.

Just on Linux, you need to append $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib to LD_LIBRARY_PATH, while on macOS you need to append $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib to DYLD_LIBRARY_PATH.

For what regards correctly loading resources in URDF files, you need to append $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX\share to the ROS_PACKAGE_PATH environment variable for ROS1, and $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX to AMENT_PREFIX_PATH for ROS2

To enable bash autocompletion, you need to add $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX\share to XDG_DATA_DIRS environment variable. If you are on Linux and not using conda and XDG_DATA_DIRS is empty, before adding $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX\share also append to it the value /usr/local/share/:/usr/share/.

Profile-specific configuration steps

This section covers the configuration necessary for a specific profile. For all profile options not listed, no additional configuration is required.

Robot Testing

$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib/robottestingframework must be appended to the LD_LIBRARY_PATH environmental variable in macOS and Linux, or to PATH in Windows. $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/robotology/icub-tests/suites must be appended to the YARP_DATA_DIRS environmental variable. $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/bin must be appended to BLOCKTEST_RESOURCE_PATH environmental variable.

Dynamics

$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib/blockfactory must be appended to the BLOCKFACTORY_PLUGIN_PATH environmental variable on Linux and macOS, while $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/bin/blockfactory must be appended to the BLOCKFACTORY_PLUGIN_PATH on Windows.

Human Dynamics

$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/human-gazebo, and $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/HumanDynamicsEstimation`` must be appended to the YARP_DATA_DIRS` environmental variable.

Dependency-specific configuration steps

This section covers the configuration necessary for a specific dependency. For all dependecies option not listed, no additional configuration is necessary.

Gazebo Classic

The following enviroment variables need to be appended with robotology-superbuild related directories:

# Gazebo Classic related env variables (see http://gazebosim.org/tutorials?tut=components#EnvironmentVariables )
# This is only necessary if are using apt, if you are using conda-forge do not include the next line
source /usr/share/gazebo/setup.sh
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/lib
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/models:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/iCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/ergoCub/robots
export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/worlds

Modern Gazebo

The following enviroment variables need to be appended with robotology-superbuild related directories:

# Modern Gazebo (gz-sim) related env variables (see https://gazebosim.org/api/sim/8/resources.html )
export GZ_SIM_SYSTEM_PLUGIN_PATH=${GZ_SIM_SYSTEM_PLUGIN_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/lib
export GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/models:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/iCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/ergoCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/worlds

MATLAB

For adding the multiple libraries to the MATLAB path, the environment variable MATLABPATH has to be appended with the following robotology-superbuild related directories:

  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex
  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/+wbc/simulink
  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/+wbc/examples
  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/WBToolbox
  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/WBToolbox/images

For MATLAB to find the robot model files added by the repository matlab-whole-body-simulator, you need to append YARP_DATA_DIRS the directory:

  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/RRbot

MATLAB/Gazebo Classic

GAZEBO_MODEL_PATH needs to be appended with:

  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/RRbot/robots

MATLAB/Modern Gazebo

GZ_SIM_RESOURCE_PATH needs to be appended with:

  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/RRbot/robots

Python

$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib/python3.6/dist-packages and $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib/python3.6/site-packages must be appended to the PYTHONPATH environmental variable.

MuJoCo

If both MATLAB and MuJoCo are enabled, the environment variable MATLABPATH has to be appended with the following robotology-superbuild related directory:

  • $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/mujoco_simulink_blockset