DART 6.1 has been tested to run on OS X Yosemite (10.10), El Capitan (10.11), and Sierra (10.12) with clang (Apple LLVM version 6.0).
Getting Headers/Developer Tools
Mac OS does not ship with system headers and compiler tools by default; the easiest way to get it all is by installing Xcode through the app store.
Xcode is Apple’s full-fledged development environment for Mac/iPhone/iPad apps, but can also be used for developing in a number of standard languages (C, C++, Ruby, web languages, etc.), so it’s a great IDE to have installed anyway.
Install using Homebrew
If you want to use DART as a dependent library for your development, then installing DART using Homebrew is the most convenient way. If you found any difficulties in installing DART using Homebrew, please open an issue.
Make sure that Homebrew is healthy before you go to next steps with:
$ brew update $ brew cleanup $ brew doctor
You can find the install command in Homebrew’s website. It should look something like:
$ /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
Tapping Required Taps
dartsim/darttap so formulae of DART and the dependencies will be found
$ brew tap dartsim/dart
$ brew tap homebrew/science
Install DART 6
Now you can install DART with the following command:
$ brew install dartsim6
If you want the cutting edge DART from the master branch
$ brew install dartsim6 --HEAD
If you want to see the detailed information of the formula
$ brew info dartsim6
Install from Source using Homebrew
First, install Homebrew by following the previous instruction.
Install All the Required and Optional Dependencies
$ brew install dartsim6 --only-dependencies
Install Dependencies Individually
Install Required Dependencies
$ brew install eigen $ brew install assimp $ brew install homebrew/science/libccd $ brew install dartsim/dart/fcl $ brew install boost $ brew install open-scene-graph
open-scene-graphis not an actual required dependency for building the core component of DART, but it’s necessary to build OpenSceneGraph based examples.
Install Optional Dependencies
Bullet Collision Detector Support
To use bullet’s collision detection routine, bullet is needed.
$ brew install bullet
NLopt Optimization Support
$ brew install homebrew/science/nlopt
IPopt Optimization Support
$ brew install homebrew/science/ipopt
DART Planning Module
$ brew install homebrew/science/flann
DART Parsers: SKEL, URDF, SDF, VSK
$ brew install tinyxml $ brew install tinyxml2 $ brew install ros/deps/urdfdom
OpenSceneGraph GUINote: If you’re going to build OpenSceneGraph based examples, then please install OpenSceneGraph.
$ brew install open-scene-graph
Build and Install DART
After this you should be able to clone the DART repository and compile it.
Clone the repository into a directory in your home folder:
$ git clone git://github.com/dartsim/dart.git
Change directory to the DART repository and checkout the latest tag of DART 6,
$ cd dart $ git checkout tags/v6.1.2
Create a build directory:
$ mkdir build $ cd build
Configure and build dart:
$ cmake .. $ make -j4
If you want to use Xcode to build DART, use cmake’s generator option:
$ cmake .. -G Xcode
You can find the list of generators you can use with
You can specify the build type [ Debug | Release | RelWithDebInfo | Profile ] as:
$ cmake .. -DCMAKE_BUILD_TYPE=Debug
The default build type is
DART tests, tutorials, examples
If you want to build the tests, tutorials, or examples:
$ make -j4 tests $ make -j4 tutorials $ make -j4 examples
$ sudo make install
If you want to uninstall DART, then:
$ sudo make uninstall