GAMS/MADARA Compilation

In this page, we will provide you a quick start to compile GAMS/MADARA for Linux Desktop, more specifically all scripts was tested with Linux Ubuntu 16.04.

It is expected that all dependencies be resolved automatically by scripts. You have to be aware and look for errors of download failures, which the script can’t handle.

To download GAMS/MADARA, just run:

$ export GAMS_ROOT=$HOME/gams
$ export CORES=4
$ git clone -b master --single-branch $GAMS_ROOT

After that, you should compile the following one of the following commands.

Build C++ with Tests

$ $GAMS_ROOT/scripts/linux/ prereqs ace madara gams vrep tests

Build C++ with Tests and Java support

$ $GAMS_ROOT/scripts/linux/ prereqs ace madara gams vrep tests java

Build C++ with Tests and Android support

$ $GAMS_ROOT/scripts/linux/ prereqs ace madara gams vrep tests android

Build C++ with ROS support

$ $GAMS_ROOT/scripts/linux/ prereqs ace madara gams ros

When the compilation finishes, you should see in folder you called the above script the following folders:

├── ace
├── gams
├── madara
└── vrep

The script below show several environment variables that must be configured to properly run and compile your gams/madara projects.

$ export PROJECT_HOME=$HOME/gamsProjects
$ export ACE_ROOT=$HOME/ace/ACE_wrappers
$ export MADARA_ROOT=$HOME/madara
$ export GAMS_ROOT=$HOME/gams
$ export VREP_ROOT=$HOME/vrep
$ export PATH=$PATH:$ACE_ROOT/bin:$MADARA_ROOT/bin:$GAMS_ROOT/bin:
$ export CORES=4
$ export NDK=$HOME/android_arm_tools
$ export LOCAL_CROSS_PREFIX=$NDK/bin/arm-linux-androideabi-
$ export SYSROOT=$NDK/sysroot

NOTE: Do not combine several arguments into, otherwise you will suffer with anomalous compilation effects.


To allow the java compilation, you should install JAVA JDK (suggested JAVA 8) and configure the environment variable named JAVA_HOME. To do that, just run the following commands:

$ sudo add-apt-repository ppa:webupd8team/java
$ sudo apt-get update
$ sudo apt-get install oracle-java8-set-default
$ export JAVA_HOME=/usr/lib/jvm/java-8-oracle

If you get an error in JavaPlatform, you should edit javaPlatForm.cpp and JavaPlatform.h so the signature of JavaPlatform::move look likes this in JavaPlatform.h:

int move (const pose::Position & position, double epsilon = 0.1) override;

and looks this in JavaPlatform.cpp:

int gams::platforms::JavaPlatform::move (const pose::Position & position, double epsilon)


If you are going to use Android in your aplications, you should download Android NDK. Extract NDK files into a folder and run the following shell script command inside of that folder.

$ ./build/tools/ --toolchain=arm-linux-androideabi-4.9 --arch=arm --platform=android-14 --install-dir=../android_arm_tools

After the process is over, ../android_arm_tools should be automatically created. After that, verify if the following environment variables are pointing to correct paths: NDK, LOCAL_CROSS_PREFIX, SYSROOT.

$ export NDK=\$HOME/bin/android_arm_tools
$ export LOCAL_CROSS_PREFIX=\$NDK/bin/arm-linux-androideabi-
$ export SYSROOT=\$NDK/sysroot

Minor fixes: UniformRandomEdgeCoverage

You should configure the variable initialized_ to be true in the method generate_new_position:

gams::algorithms::area_coverage::UniformRandomEdgeCoverage::generate_new_position (void)
  if (platform_ && *platform_->get_platform_status ()->movement_available)
    initialized_ = true;

minor fixes: AlgorithmFactoryRepository.cpp

You should change the following code from:

add (aliases, new area_coverage::PriorityWeightedRandomAreaCoverageFactory ());

add (aliases, new area_coverage::SnakeAreaCoverageFactory ());


add (aliases, new area_coverage::PriorityWeightedRandomAreaCoverageFactory ());

  aliases.resize (2);
  aliases[0] = "snake";
  aliases[1] = "sac";

  add (aliases, new area_coverage::SnakeAreaCoverageFactory ());