• Boost >= 1.38 (for hardy available in the gar-installer, 1.34.1 untested)
  • Boost.UUID (header-only, officially included in Boost since 1.42, headers from this version can be used with all older versions of boost, gar-installer package available [ignore this if you don't know what the gar-installer is])
  • CMake (tested with 2.8)
  • optional:

On Ubuntu 12.04 the following command should set up your requirements:

sudo apt-get install cmake libboost-dev libboost-thread-dev libboost-filesystem-dev libboost-signals-dev libboost-program-options-dev libboost-system-dev libboost-regex-dev

Supported Operating Systems and Compilers

  • Linux (GCC 4.x)
  • Windows (MS Visual Studio 9 2008)


Other combination may be possible but are currently untested.


A brief summary of the library contents. More detailed information can be found in the source code documentation.

  • Logging Adapter - Logging interface with support for different backends
  • Math - Various base data structures and methods for common mathematical calculation in robotics
  • Miscellaneous - Various small helpers and utilities that do not fit in any other category
  • Subprocess - A python-inspired, platform-independent way to launch other processes
  • Threading - Different helpers for managing threaded applications, includes a task abstraction, synchronized data structures and thread pools
  • Runtime - Augmentation of the C++ runtime towards interactive and less strict handling of data and types
  • Patterns - Implementations of some frequently used design patterns
  • CMake Support Library - A collection of modules for using CMake, including find-modules for different 3rd-party libraries and applications