Getting Started with RAPP API

Version RAPP API: 0.7.0.

These instructions are for Linux/Unix based operative systems.

Packages required

Before installing RAPP API you need to install these dependencies:

  • GCC and G++ 4.9 or higher
  • Boost 1.49 or higher
  • CMake 2.6 or higher
  • Git

The dependencies can be installed using a terminal and the following command:

sudo apt-get install gcc g++ git cmake libboost-all-dev


Clone directly from github using:

git clone

Alternatively, download the api as a zip or tarball, and extract the API from there.


For the C++ RAPP API, please note you need to have the [dependencies](#packages required) installed. To build:

cd rapp-api/cpp
mkdir build
cd build
cmake ..

You will end up with a library and/or tests and examples under your build directory.

CMake Options

Note that you can pass a variety of CMake arguments to suit your needs:

  • -DRAPP_SHARED=ON (Default: compile a shared librapp)
  • -DRAPP_STATIC=ON (Optional: compile a static librapp)
  • -DBUILD_TESTS=ON (Optional: compile various tests - run with make test)
  • -DBUILD_EXAMPLES=ON (Optional: compile various examples)
  • -DCMAKE_BUILD_TYPE=Debug (Optional: enable debug symbols)
  • -DSTATIC_LIBSTD=ON (Optional: compile statically against libstdc++)
  • -DOPEN_NAO=ON (Optional: compiling on OpenNAO requires additional CXX flags)
  • -DCMAKE_INSTALL_PREFIX=/usr (Optional: specify the library install directory
  • -DOPENSSL_ROOT_DIR=/usr/local/opt/openssl (Optional: specify OpenSSL root directory)
  • -DOPENSSL_LIBRARIES=/usr/local/opt/openssl/lib/ (Optional: specify OpenSSL library directory)

All of those arguments are optional, however depending on your scenario you may have to adjust. For example, building for a NAO robot the convenience flag -DOPEN_NAO=ON will create a static library optimising for an ATOM cpu using i386 architecture.


You may install if you wish to (as root or using sudo):

make install

The produced library will be installed in /usr/local/lib/ whereas the headers are installed in /usr/local/include/ by default.

If you wish to install to another location or a user directory then run:


Bear in mind that this only changes the library installation location and not the header install location.


Enable tests when you run cmake with:


This will create a rapp-api/cpp/build/tests directory for each file in rapp-api/cpp/tests. There are four types of tests:

  • JSON (de)serialisation tests.
  • Class unit tests.
  • Cloud functionality tests.
  • ASIO unit tests.

To execute them, type:

make test

Warning: do not run individual tests from within the /rapp-api/cpp/build/tests directory!

Note: all examples and test have been checked with valgrind --leak-check=full under Ubuntu 14.04 and found to have no memory leaks or segfaults.

If you do happen to run across such issues, please open an issue on GitHub.


The source files for the examples are under /rapp-api/cpp/examples and if you use the CMake option flag -DBUILD_EXAMPLES=ON they will be built under /rapp-api/cpp/build/examples/.

You can run them individually, or use them as templates.