Building Aseba

Requierements & Dependencies

Aseba requieres a C++14 compatible compiler. We recommand GCC 6, Clang 5 or MSVC 19 (Visual Studio 17).

Aseba depends on Qt5.9 or greater. You will also need cmake 3.1 or greater, we recommend you use the latest version available.

Getting the source code

The source code of Aseba is hosted on github. To fetch the source, you must first install Git .

Then, to clone aseba, execute:

git clone --recursive
cd aseba

All the commands given in the rest of this document assume the current path is the root folder of the cloned repository.

Getting Started on Windows with MSVC

Aseba Builds on Windows Vista or greater.

  • Install Bonjour. You will find the installer in third_party/bonjour/bonjoursdksetup.exe
  • Install Qt from Qt’s website Once installed, th bin repertory of Qt must be in your path.
  • Install Visual Studio
  • Install CMake

In a developer prompt run:

mkdir build;
cd build

Additional Dependencies

Aseba can be improved with several other dependencies * SDL (Joystick Support) * QWT (Charts) * libxml2

Getting Started on Windows with MingW

An easy way to compile Aseba on Windows is to use msys2.

Preliminary: download, install and update msys2

Download and install msys2 from If you have a 64-bit version of Windows, take the x86_64 installer, otherwise the i686 one.

Once msys2 is installed, start the shell by running the MSYS2 MSYS application. In the shell, update msys2 by typing:

pacman -Syu

Then restart the shell and update the packages by typing:

pacman -Su

Install the dependencies

In the msys2 shell, install the dependencies by typing:

pacman -S mingw-w64-i686-{toolchain,cmake,qt5,qwt-qt5,libxml2,SDL2} git make

If you want to build Windows 64 binaries, replace i686 by x86_64

Building Aseba

In a msys2 prompt, run

mkdir build && cd build
cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH="<path of qt>;<path of bonjour>" ..

Getting Started on OSX

You will need OSX 10.11 or greater

  • Install Homebrew.
  • In the cloned repository run
brew update brew tap homebrew/bundle brew bundle

Then you can create a build directory and build Aseba

mkdir build && cd build

Getting Started on Linux

Dependencies On Ubuntu & Debian

sudo apt-get install qttools5-dev-tools \
                     qtbase5-dev \
                     qttools5-dev \
                     libqt5help5 \
                     qt5-qmake \
                     libqt5opengl5-dev \
                     libqt5svg5-dev \
                     libqt5x11extras5-dev \
                     libqwt-qt5-dev \
                     libudev-dev \
                     libxml2-dev \
                     libsdl2-dev \
                     libavahi-compat-libdnssd-dev \
                     cmake \
                     g++ \
                     git \
                     make \

Building Aseba

mkdir build && cd build

A note about permissions

If you will be connecting to your robot through a serial port, you might need to add yourself to the group that has permission for that port. In many distributions, this is the “dialout” group and you can add yourself to that group and use the associated permissions by running the following commands:

sudo usermod -a -G dialout $USER
newgrp dialout

Advanced Setup

Running tests

Once the build is complete, you can run ctest in the build directory to run the tests.


The compilation of Aseba can be significantly speed up using ninja insteadf of make. Refer to the documentation of cmake and ninja.