When other versions of the liburbi will be available, (in particular an OPEN-R version that will allow programs to run on the robot), it will be possible to compile the same code for both libraries, if a few rules are respected:
Do not use USyncClient.
Use the printf method of UClient instad of the standard version.
Use the getCurrentTime method of UClient instad of functions from the stdlib.
Use the urbi::exit function (in the "urbi" namespace) instead of exit.
At the end of your main, call urbi::execute.
Do not use threads, or any function call not implemented in the OPEN-R version of stdlib.