• install SOEM

• download MSCL

dpkg -i c++-mscl_52.2.1_amd64.deb

wget https://bitbucket.org/rbdl/rbdl/get/default.zip
unzip default.zip
cd rbdl-rbdl-0879ee8c548a
mkdir build
cd build
cmake -D RBDL_BUILD_ADDON_URDFREADER=ON ..
make all
sudo make install

• If any error related to ROS occurs, open rbdl-rbdl-[commit]/addons/urdfreader/urdfreader.cc and remove following line

#include <ros.h>

• If error " 'boost' does not name a type" occurs, open rbdl-rbdl-[commit]/addons/urdfreader/urdfreader.cc and edit boost::shared_ptr to std::shared_ptr. (line 15~18)

typedef std::shared_ptr<urdf::Link> LinkPtr;
typedef const std::shared_ptr<const urdf::Link> ConstLinkPtr;
typedef std::shared_ptr<urdf::Joint> JointPtr;
typedef std::shared_ptr<urdf::ModelInterface> ModelPtr;

• If red controller can't find librbdl.so.2.6.0, Add following line to .bashrc

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

Download qpOASES Link

cd qpOASES-3.2.1
mkdir build
cd build
cmake ..
make all
sudo make install

if error occures, add following line to qpOASES-3.2.1/CMakeLists.txt, below PROJECT(qpOASES CXX), which is line 34

add_compile_options(-fPIC)

Download 1.0 version from release list. 1.0 release Unzip at ros worksapce (ex:catkin_ws)

sudo apt-get install libncurses5-dev