Tarsim

Install

Install VTK

Download the latest VTK version (e.g. 8.2.0): https://vtk.org/download/#latest

cd /tmp
mkdir VTK-build
cd VTK-build
cmake -DVTK_QT_VERSION:STRING=5 \
      -DQT_QMAKE_EXECUTABLE:PATH=/path/to/qt5.2.1-install/5.2.1/gcc_64/bin/qmake \
      -DVTK_Group_Qt:BOOL=ON \
      -DCMAKE_PREFIX_PATH:PATH=/path/to/qt.5.2.1-install/5.2.1/gcc_64/lib/cmake  \
      -DBUILD_SHARED_LIBS:BOOL=ON\
      /path/to/VTK-8.2.0

make -j8
sudo make install

Install Protobuf

Install protobuf version 3 (e.g. v3.11.2):

cd /tmp
git clone https://github.com/protocolbuffers/protobuf.git
git checkout v3.11.2
cd protobuf
git submodule update --init --recursive
./autogen.sh
./configure
make -j8
make check
sudo make install
sudo ldconfig

Build and Install Tarsim

Clone, build, and install tarsim as:

cd /tmp
git clone https://github.com/kamranshamaei/tarsim.git
mkdir -p /path/to/build
Run cmake-gui and point build to the /path/to/build and source to /tmp/tarsim/src. Click on configure and generated twice.
cd /path/to/build
make -j8
make install

At this point, you'd have a tarsim folder in your build folder. Copy and paste it to a desired location as /path/to/tarsim.

echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/path/to/tarsim/lib' >> ~/.bashrc
source ~/.bashrc

Run

To run tarsim:

/path/to/tarsim/tarsim -c /path/to/robot/rbs.txt

Docker

To build and run docker:

docker-compose -f docker-compose.yml up -d tarsim
docker-compose -f docker-compose.yml exec tarsim bash