How to compile CoppeliaSim on Linux

coppeliasim.repos

repositories:
  coppeliaSimClientApplication:
    type: git
    url: https://github.com/CoppeliaRobotics/coppeliaSimClientApplication.git
    version: coppeliasim-v4.4.0-rev0
  CoppeliaSimLib:
    type: git
    url: https://github.com/CoppeliaRobotics/CoppeliaSimLib.git
    version: coppeliasim-v4.4.0-rev0
  include:
    type: git
    url: https://github.com/CoppeliaRobotics/include.git
    version: coppeliasim-v4.4.0-rev0
  simMath:
    type: git
    url: https://github.com/CoppeliaRobotics/simMath.git
    version: coppeliasim-v4.4.0-rev0
  libPlugin:
    type: git
    url: https://github.com/CoppeliaRobotics/libPlugin.git
    version: coppeliasim-v4.4.0-rev0
  coppeliaGeometricRoutines:
    type: git
    url: https://github.com/CoppeliaRobotics/coppeliaGeometricRoutines.git
    version: coppeliasim-v4.4.0-rev0
  coppeliaKinematicsRoutines:
    type: git
    url: https://github.com/CoppeliaRobotics/coppeliaKinematicsRoutines.git
    version: coppeliasim-v4.4.0-rev0
  bubbleRobClient:
    type: git
    url: https://github.com/CoppeliaRobotics/bubbleRobClient.git
    version: coppeliasim-v4.4.0-rev0
  bubbleRobServer:
    type: git
    url: https://github.com/CoppeliaRobotics/bubbleRobServer.git
    version: coppeliasim-v4.4.0-rev0
  bubbleRobZmqServer:
    type: git
    url: https://github.com/CoppeliaRobotics/bubbleRobZmqServer.git
    version: coppeliasim-v4.4.0-rev0
  common:
    type: git
    url: https://github.com/CoppeliaRobotics/common.git
    version: coppeliasim-v4.4.0-rev0
  helpFiles:
    type: git
    url: https://github.com/CoppeliaRobotics/helpFiles.git
    version: coppeliasim-v4.4.0-rev0
  lua:
    type: git
    url: https://github.com/CoppeliaRobotics/lua.git
    version: coppeliasim-v4.4.0-rev0
#  models:
#    type: git
#    url: https://github.com/CoppeliaRobotics/models.git
#    version: coppeliasim-v4.4.0-rev0
  mtbServer:
    type: git
    url: https://github.com/CoppeliaRobotics/mtbServer.git
    version: coppeliasim-v4.4.0-rev0
  python:
    type: git
    url: https://github.com/CoppeliaRobotics/python.git
    version: coppeliasim-v4.4.0-rev0
  rcsServer:
    type: git
    url: https://github.com/CoppeliaRobotics/rcsServer.git
    version: coppeliasim-v4.4.0-rev0
#  scenes:
#    type: git
#    url: https://github.com/CoppeliaRobotics/scenes.git
#    version: coppeliasim-v4.4.0-rev0
  simExtAssimp:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtAssimp.git
    version: coppeliasim-v4.4.0-rev0
  simExtBubbleRob:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtBubbleRob.git
    version: coppeliasim-v4.4.0-rev0 
  simExtCHAI3D:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtCHAI3D.git
    version: coppeliasim-v4.4.0-rev0
  simExtCodeEditor:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtCodeEditor.git
    version: coppeliasim-v4.4.0-rev0
  simExtCollada:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtCollada.git
    version: coppeliasim-v4.4.0-rev0
  simExtConvexDecompose:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtConvexDecompose.git
    version: coppeliasim-v4.4.0-rev0
  simExtDataflow:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtDataflow.git
    version: coppeliasim-v4.4.0-rev0
  simExtDyn:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtDyn.git
    version: coppeliasim-v4.4.0-rev0
  simExtEigen:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtEigen.git
    version: coppeliasim-v4.4.0-rev0
  simExtExternalRenderer:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtExternalRenderer.git
    version: coppeliasim-v4.4.0-rev0
  simExtGeom:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtGeom.git
    version: coppeliasim-v4.4.0-rev0
  simExtGLTF:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtGLTF.git
    version: coppeliasim-v4.4.0-rev0
  simExtICP:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtICP.git
    version: coppeliasim-v4.4.0-rev0
  simExtIGL:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtIGL.git
    version: coppeliasim-v4.4.0-rev0
  simExtIK:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtIK.git
    version: coppeliasim-v4.4.0-rev0
  simExtIM:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtIM.git
    version: coppeliasim-v4.4.0-rev0
  simExtK3:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtK3.git
    version: coppeliasim-v4.4.0-rev0
  simExtLuaCmd:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtLuaCmd.git
    version: coppeliasim-v4.4.0-rev0
  simExtLuaParser:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtLuaParser.git
    version: coppeliasim-v4.4.0-rev0
  simExtLuaRemoteApiClient:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtLuaRemoteApiClient.git
    version: coppeliasim-v4.4.0-rev0
  simExtMTB:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtMTB.git
    version: coppeliasim-v4.4.0-rev0
  simExtOctomap:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtOctomap.git
    version: coppeliasim-v4.4.0-rev0
  simExtOMPL:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtOMPL.git
    version: coppeliasim-v4.4.0-rev0
  simExtOpenGL3Renderer:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtOpenGL3Renderer.git
    version: coppeliasim-v4.4.0-rev0
  simExtOpenMesh:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtOpenMesh.git
    version: coppeliasim-v4.4.0-rev0
  simExtPovRay:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtPovRay.git
    version: coppeliasim-v4.4.0-rev0
  simExtQHull:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtQHull.git
    version: coppeliasim-v4.4.0-rev0
  simExtQML:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtQML.git
    version: coppeliasim-v4.4.0-rev0
  simExtRemoteApi:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtRemoteApi.git
    version: coppeliasim-v4.4.0-rev0
  simExtRML2:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtRML2.git
    version: coppeliasim-v4.4.0-rev0
  simExtRRS1:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtRRS1.git
    version: coppeliasim-v4.4.0-rev0
  simExtRuckig:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtRuckig.git
    version: coppeliasim-v4.4.0-rev0
  simExtSDF:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtSDF.git
    version: coppeliasim-v4.4.0-rev0
  simExtSubprocess:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtSubprocess.git
    version: coppeliasim-v4.4.0-rev0
  simExtSurfRec:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtSurfRec.git
    version: coppeliasim-v4.4.0-rev0
  simExtUI:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtUI.git
    version: coppeliasim-v4.4.0-rev0
  simExtURDF:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtURDF.git
    version: coppeliasim-v4.4.0-rev0
  simExtURLDrop:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtURLDrop.git
    version: coppeliasim-v4.4.0-rev0
  simExtWS:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtWS.git
    version: coppeliasim-v4.4.0-rev0
  simExtZMQ:
    type: git
    url: https://github.com/CoppeliaRobotics/simExtZMQ.git
    version: coppeliasim-v4.4.0-rev0
  standAloneKinematicsDemo1:
    type: git
    url: https://github.com/CoppeliaRobotics/standAloneKinematicsDemo1.git
    version: coppeliasim-v4.4.0-rev0
  standAloneKinematicsDemo2:
    type: git
    url: https://github.com/CoppeliaRobotics/standAloneKinematicsDemo2.git
    version: coppeliasim-v4.4.0-rev0
  threejsFrontend:
    type: git
    url: https://github.com/CoppeliaRobotics/threejsFrontend.git
    version: coppeliasim-v4.4.0-rev0
  videoRecorder:
    type: git
    url: https://github.com/CoppeliaRobotics/videoRecorder.git
    version: coppeliasim-v4.4.0-rev0
  wsRemoteApi:
    type: git
    url: https://github.com/CoppeliaRobotics/wsRemoteApi.git
    version: coppeliasim-v4.4.0-rev0
  zmqRemoteApi:
    type: git
    url: https://github.com/CoppeliaRobotics/zmqRemoteApi.git
    version: coppeliasim-v4.4.0-rev0
  simMath:
    type: git
    url: https://github.com/CoppeliaRobotics/simMath.git
    version: coppeliasim-v4.4.0-rev0
  remoteApi:
    type: git
    url: https://github.com/CoppeliaRobotics/remoteApi.git
    version: coppeliasim-v4.4.0-rev0
   

Instructions.md

How to compile CoppeliaSim (v4.4) from source on Linux

Tested on Ubuntu 22.04 (arm64 and x64)

1. Install dependicies

---

• pip: sudo apt install python3-pip
• colcon: pip install -U colcon-common-extensions
• vcs: pip install vcstool
• git: sudo apt install git
• cmake: sudo apt install cmake
• lua5.3: sudo apt install lua5.3 liblua5.3-dev
• luarocks: sudo apt install luarocks
• qt@5: sudo apt install qtbase5-dev
• qscintilla2: sudo apt install libqscintilla2-qt5-dev
• eigen: sudo apt install libeigen3-dev
• boost: sudo apt install libboost-all-dev
• xsltproc: sudo apt install xsltproc
• xmlschema: pip install xmlschema

2. Download CoppeliaSim

---

Get the 4.4 version from https://www.coppeliarobotics.com/downloads

3. Remove the compiled libraries

---

This is only needed if you are compiling for a different architecture, like arm.

Also the directories:

• luar
• platforms
• platformthemes

TODO: and some more

4. Create a workspace where to build

---

• create a directory with subdir src
• download the list of repos wget https://gist.githubusercontent.com/jeguzzi/1b1ed8c495b7cab54ac4b953243fe669/raw/8ea752cb5a0385d6b9f492527321a93df5438fff/coppeliasim.repos
• import the repos: vcs import src < coppeliasim.repos
• patch with this: https://github.com/CoppeliaRobotics/CoppeliaSimLib/pull/19/files in case you are installing coppeliaSim <= v4.4

5. Setup your env

---

eval $(luarocks path)
export LUA_LIBRARIES=/usr/lib/aarch64-linux-gnu/liblua5.3.so
export LUA_INCLUDE_DIR=/usr/include/lua5.3
export QSCINTILLA_DIR=/usr/include/aarch64-linux-gnu/qt5/Qsci
export QSCINTILLA_LIBS="/usr/lib/libqscintilla2_qt5.so"
export QSCINTILLA_INCLUDEPATH="/usr/include/aarch64-linux-gnu/qt5"
export PATH=$HOME/.local/bin:$PATH

Set the COPPELIASIM_ROOT_DIR to where you saved the original coppeliaSim directory

export COPPELIASIM_ROOT_DIR=<COPPELIASIM_DIR>

6. Build the coppeliaSim library

---

colcon build --packages-select coppeliaSim --cmake-args \
-DCMAKE_BUILD_TYPE=Release \
-DINSTALL_DIR=$COPPELIASIM_ROOT_DIR \
-DCOPPELIASIM_PROGRAMMING_DIR=$PWD/src \
-DLUA_LIBRARIES=/usr/lib/aarch64-linux-gnu/liblua5.3.so \
-DLUA_INCLUDE_DIR=/usr/include/lua5.3 \
-DQSCINTILLA_DIR=/usr/include/aarch64-linux-gnu/qt5/Qsci \
-DQSCINTILLA_LIBRARY=/usr/lib/libqscintilla2_qt5.so

This may take some minutes.

7. Build the client application

---

TODO: patch coppeliaSim/CMakeLists.txt to add target_compile_options(coppeliaSim PRIVATE -fvisibility=hidden) else it won't work on arm64.

colcon build --packages-select simClientApplication --cmake-args \
-DCMAKE_BUILD_TYPE=Release \
-DINSTALL_DIR=$COPPELIASIM_ROOT_DIR \
-DCOPPELIASIM_LIBRARY=$COPPELIASIM_ROOT_DIR

8. Install the rocks

---

luarocks --tree $COPPELIASIM_ROOT_DIR/luar install lpeg
luarocks --tree $COPPELIASIM_ROOT_DIR/luar install lpeglabel
luarocks --tree $COPPELIASIM_ROOT_DIR/luar install lua-parser
luarocks --tree $COPPELIASIM_ROOT_DIR/luar install luasocket
luarocks --tree $COPPELIASIM_ROOT_DIR/luar install org.conman.cbor

9. Install the plugins

---

TODO: add SciLexer.h

colcon build --packages-select simExtCodeEditor --cmake-args \
-DCMAKE_BUILD_TYPE=Release \
-DQSCINTILLA_DIR=/usr/include/aarch64-linux-gnu/qt5/Qsci \
-DQSCINTILLA_LIBRARY=/usr/lib/libqscintilla2_qt5.so

TODO: patch simExtDyn/CMakeLists.txt

• for arm to remove all the sse flags
• to find LIBCOPPELIASIM_SOURCE_DIR

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DBullet_2_83=OFF -DVortex=OFF  -DMujoco=OFF -DNewton=OFF --packages-select simExtDyn

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-skip-build-finished --packages-select-regex "simExt*" --continue-on-error

Some may fail if you miss dependencies and a few fails anyway on arm64.