Installing SPART¶
First you need to download the SPART toolkit from the SPART Github repository:
git clone https://github.com/NPS-SRL/SPART.git
Once you have the SPART source code, navigate to the SPART root folder and execute the following command in the MATLAB command window:
SPART2path
This adds all the required SPART folders into your MATLAB path and saves it.
Note
In Linux, running MATLAB with root privileges may be required (i.e., sudo
) to permanently save the MATLAB path.
Dependencies¶
Some MATLAB toolboxes are required to fully exploit SPART:
- The Robotics System Toolbox is required to interface MATLAB with ROS.
- The Matlab Coder and the Simulink Coder are required to generate standalone ROS nodes or portable C/C++ code from SPART MATLAB code or Simulink models.
- The Symbolic Math Toolbox is required to obtain analytic expressions of the kinematic and dynamic quantities.
- The Simulink 3D Animation is useful to visualize the robotic systems.