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Building and Installing on Windows

NOTE: Only Windows XP has been tested. Windows 7 and others have been reported to work, but might need to modify the executable properties to windows95 compatibility mode after the executable has been built.

It is recommended to use OpenRAVE from the official Windows Installers on Sourceforge.

Octave/Matlab

Download the sources from sourceforge (Tortoise SVN is recommended). The subversion url is:

https://openrave.svn.sourceforge.net/svnroot/openrave/tags/latest_stable

Check out the openrave sources in a path whose directories do not contain spaces!!!. For example C:\openrave.

A lot of the 3rd party libraries are already inside the openrave sources. However, the following need to be installed:

Octave/Matlab

Both Octave and Matlab are supported and the OpenRAVE build system automatically detects and compiles the mex files for each.

Octave users:

Matlab users:

Building OpenRAVE

Run the CMake GUI and specify a build directory somewhere out of the current source directory. Click on the Configure and Generate buttons. For Visual Studio users, this will generate a OpenRAVE.sln file. Open the Microsoft Visual Studio solution file and select the RelWithDebInfo or Release configuration, and build everything. Once done, build the INSTALL project. This should install everything in C:\Program Files\openrave. The installation directory can be changed by configuring CMake's CMAKE_INSTALL_PREFIX variable to a new path. If using the command-line, can specify the install directory with -DCMAKE_INSTALL_PREFIX="my/new/install/dir".

Before running anything, have to modify the following environment variables:

Updating Subversion

Whenever updating subversion, it should just be sufficient to run runcmake_win.bat again and then open the solution file build all the projects, and then manually build the INSTALL project. If an update to libraries or programs happens (for example Octave/MATLAB/python was installed/uninstalled), it is recommended to clear the cmake cache by first removing build\CMakeCache.txt before running runcmake_win.bat.