SBPL is available as a standalone software library. SBPL itself has no
dependencies other than the C/C++ standard library.

These build and install instructions are primarily for Linux. For other
operating systems, CMake can generate the platform-specific build and project
files necessary for building SBPL.

Versions of ROS older than Fuerte may contain packages that depend on a ROS
package version of SBPL. The recommended method to install SBPL is to install
it as a standard system library. However, if you wish to use the old ROS
package version of SBPL, you may follow these instructions.

1. Building and Installing SBPL from source

    1.1 Build SBPL

        SBPL uses git as its version control system. From the directory where
        you want the SBPL source to reside, clone the latest source from
        https://github.com/sbpl/sbpl:

        git clone https://github.com/sbpl/sbpl.git

        In the source directory, build the SBPL library using standard
        CMake build conventions:

        mkdir build
        cd build
        cmake ..
        make

    1.2 Install SBPL

        Install the built library and headers onto your local system
        (usually into /usr/local):

        sudo make install

2. Installing SBPL from pre-built binary package

    A pre-built Debian package exists on Linux for ROS distributions
    Fuerte and newer. To install the Debian, run:

    sudo apt-get install ros-distro-sbpl

    where distro is the name of your ROS distribution. This will install
    the SBPL library and associated development headers alongside other
    ROS components (in /opt/ros/distro on Ubuntu distributions). A
    pkg-config file is also included to allow you to locate the SBPL
    library components in your build system.

3. Build your (ROS) package with SBPL as a dependency (CMake)

    In the CMakeLists.txt for your (ROS) package, the following lines are
    needed to find the installed SBPL files:

    find_package(PkgConfig REQUIRED)
    pkg_check_modules(SBPL REQUIRED sbpl)
    include_directories(${SBPL_INCLUDE_DIRS})
    link_directories(${SBPL_LIBRARY_DIRS})

    Then, after you've declared your binaries, you need to link them
    against SBPL with the following line:

    target_link_libraries(your-binary-here ${SBPL_LIBRARIES})

4. Installing and Using SBPL as a ROS package

    The ROS package version of SBPL was deprecated with the release of ROS
    Fuerte. However, packages in ROS Electric may still require the ROS
    package version of SBPL.

    4.1 Install SBPL

        4.1.1 Source install

            SBPL uses git as its version control system. From the
            directory where you want the SBPL source to reside, clone the
            latest source from https://github.com/sbpl/sbpl:

            git clone https://github.com/sbpl/sbpl.git

            In the source directory, checkout the electric branch of the
            repository to revert to the old ROS package version:

            git checkout -b electric

            Ensure that SBPL is on your ROS_PACKAGE_PATH and type:

            rosmake sbpl

        4.1.2 Binary install

            SBPL is also available as a pre-built Debian in ROS Electric.
            To instal the Debian, run:

            sudo apt-get install ros-electric-arm-navigation