Add a build script for wx_armor by QuantuMope · Pull Request #25 · HorizonRoboticsInternal/interbotix_xs_driver

QuantuMope · 2024-12-13T20:01:53Z

This PR adds an automated build script for wx_armor. It's quite annoying / tedious to have to install it on fresh machines. This script should now handle all necessary dependencies seamlessly.

Tested on two separate machines.

An old tutorial can be found here for reference.
https://horizonrobotics.feishu.cn/wiki/NYL6wgBc8i05O0kLkk2cqFNxn2g

le-horizon

Thanks for the nice PR. A couple suggestions if they make sense.

le-horizon · 2024-12-19T21:30:29Z

+
+Users must also set `LD_LIBRARY_PATH` to the shared library locations. In your `~/.bashrc`, add the following line:
+```bash
+export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH


Maybe add a check in build.sh to add this to .bashrc if not already there?

I tried doing this, but since this build script is being run using sudo, it uses the root's .bashrc instead. Since there's no easy fix for this, I simply omitted it. Instead, I have the part about setting LD_LIBRARY_PATH be the first step in README.

le-horizon · 2024-12-19T21:34:31Z

-  - `sudo apt install -y yaml-cpp-dev`
-
 #### Building From Source



Add some explanation about the system requirements, e.g. ubuntu version tested etc..
Also add a link to our other repo for running on Jetson devices.

Good point. Done.

QuantuMope

Hey Le, thanks for the review. Addressed your comments. PTAL.

I can also confirm that the build script works flawlessly on Ubuntu 24.04, in addition to 22.04.

QuantuMope · 2024-12-26T19:57:14Z

-  - `sudo apt install -y yaml-cpp-dev`
-
 #### Building From Source



Good point. Done.

QuantuMope · 2024-12-26T19:58:19Z

+
+Users must also set `LD_LIBRARY_PATH` to the shared library locations. In your `~/.bashrc`, add the following line:
+```bash
+export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH


I tried doing this, but since this build script is being run using sudo, it uses the root's .bashrc instead. Since there's no easy fix for this, I simply omitted it. Instead, I have the part about setting LD_LIBRARY_PATH be the first step in README.

le-horizon

LG. Btw, is there any instruction about udev rules? wx_armor fails to talk to the arm w/o the udev rules to define /dev/ttyDXL

The merge-base changed after approval.

QuantuMope · 2025-08-25T19:40:51Z

Forced pushed a rebase to main @le-horizon

le-horizon

Thanks for the automation. Some suggestions to make the process even more automatic.

le-horizon · 2025-08-25T22:06:40Z

+    # Install json
+    cd /tmp
+    rm -rf json
+    git clone https://github.com/nlohmann/json
+    cd json
+    mkdir build
+    cd build
+    cmake ..
+    make -j"$(nproc)"
+    make install
+    cd /tmp
+    rm -rf json
+    cd "$HOME_DIR"


This will do:
sudo apt-get install -y nlohmann-json3-dev

Also need these:
sudo apt-get install -y udev libyaml-cpp-dev libspdlog-dev gcc g++ cmake libjsoncpp-dev uuid-dev zlib1g-dev

le-horizon · 2025-09-05T16:01:47Z

@QuantuMope could you work on this PR so we can close #33?

Also need to avoid using export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH, but instead improve the build script. This env var is perhaps one of the last few things toward a fully automated install.

QuantuMope

Hey Le, addressed all comments. Also, added a cmake fix to avoid the .bashrc LD_LIBRARY_PATH setting.

Tested that everything works on gail7.

QuantuMope · 2025-09-05T17:28:34Z

+    # Install json
+    cd /tmp
+    rm -rf json
+    git clone https://github.com/nlohmann/json
+    cd json
+    mkdir build
+    cd build
+    cmake ..
+    make -j"$(nproc)"
+    make install
+    cd /tmp
+    rm -rf json
+    cd "$HOME_DIR"


le-horizon

Just one question. Thanks for the automation!

le-horizon · 2025-09-05T18:39:45Z

    spdlog::spdlog
    nlohmann_json::nlohmann_json
-    yaml-cpp)
+    yaml-cpp::yaml-cpp)


dynamixel_sdk dependency seems to be missing, have you tested CMake w/o LD_LIBRARY_PATH?

Yeah I have. I unset it. I don't think that dependency existed before in the cmake. Could be that toolbox refers to sdk in its own cmake.

QuantuMope requested a review from le-horizon as a code owner December 13, 2024 20:01

QuantuMope requested a review from Haichao-Zhang December 13, 2024 20:02

le-horizon reviewed Dec 19, 2024

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QuantuMope commented Dec 26, 2024

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le-horizon previously approved these changes Dec 27, 2024

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QuantuMope force-pushed the main branch from dfe1dbc to fb8a09c Compare February 27, 2025 22:42

QuantuMope mentioned this pull request Aug 25, 2025

add missed 3rd party dependencies: dynamixel; update README #33

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QuantuMope added 2 commits August 25, 2025 12:39

Add a build script for wx_armor

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QuantuMope force-pushed the PR/andrew/build_script branch from 7e5238d to 89a076f Compare August 25, 2025 19:40

le-horizon reviewed Aug 25, 2025

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QuantuMope force-pushed the PR/andrew/build_script branch 2 times, most recently from f1cfc45 to 5cddb5e Compare September 5, 2025 18:14

QuantuMope commented Sep 5, 2025

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address comments

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QuantuMope force-pushed the PR/andrew/build_script branch from b59ae20 to 22fcc66 Compare September 5, 2025 18:18

le-horizon reviewed Sep 5, 2025

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le-horizon approved these changes Sep 5, 2025

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QuantuMope merged commit 515a8d1 into main Sep 5, 2025

QuantuMope deleted the PR/andrew/build_script branch September 5, 2025 19:09

		- `sudo apt install -y yaml-cpp-dev`

		#### Building From Source

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QuantuMope commented Dec 13, 2024

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QuantuMope commented Aug 25, 2025

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le-horizon commented Sep 5, 2025

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