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.