Binary installation (OS X, Ubuntu)¶

Important Note (October, 2016)¶

Drake is currently undergoing a major renovation, with all of the core libraries moving into C++. The examples will move and the existing APIs will change.

We are actively working on a binary release of the new software, but are not quite finished. See https://github.com/RobotLocomotion/drake/issues/1766 for details.

In the meantime, we suggest you build from source instead.

Using older (2015) releases¶

We cannot offer support for older releases, but we still host the binaries for reference.

Download the appropriate binary release for your platform https://github.com/RobotLocomotion/drake/releases Simply extract the archive file into a folder of your choice (mine is called drake-distro).

Running MATLAB examples¶

To run the MATLAB examples, change directories (in MATLAB) into the drake-distro/drake folder and at the MATLAB prompt do:

addpath_drake


Then cd into the examples directories and try some things out. Here are a few fun ones to get you started:

• runLQR in the examples/CartPole directory
• runLQR in the examples/Quadrotor2D directory
• RimlessWheelPlant.run() in the examples/RimlessWheel directory
• StateMachineControl.run() in the examples/PlanarMonopodHopper directory

Linux Specific¶

The version of the standard C++ libraries that are shipped with the Linux distribution of MATLAB is severely outdated and can cause problems when running mex files that are built against a newer version of the standard. The typical error message in this case reports Invalid MEX-Files

To work around this issue, the symbolic link for the standard C++ library provided by MATLAB must be redirected to point to a more up-to-date version.

First, make sure that a suitable version of the standard library is installed:

sudo apt-get install g++-4.4


Now, the symbolic link in MATLAB must be updated to point to the version that was just installed in /usr/lib. An example for MATLAB R2014a is shown below:

cd /usr/local/MATLAB/R2014a/sys/os/glnxa64
sudo rm libstdc++.so.6
sudo ln -s /usr/lib/gcc/x86_64-linux-gnu/4.4/libstdc++.so libstdc++.so.6