download and extract v-rep, e.g. into /opt/vrep www.v-rep.eu - remove the following comments from remoteApiConnections.txt in the v-rep directory (/opt/v-rep) portIndex1_port = 19998 portIndex1_debug = true portIndex1_syncSimTrigger = false - start v-rep by v-rep.sh - load /scence/youbot_arm - start the simulation compile: $ cmake <path_to_CMakeLists.txt> -DVREP_DIR:PATH=<path_to_v-rep> example $ cd RobotManipulation $ mkdir build $ cmake .. -DVREP_DIR:PATH=/opt/v-rep $ make start the example: $ ./example