ICub software: Difference between revisions

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This article explains how to install YARP and iCub software.
This article deals with the installation of YARP and iCub software. Word of advice: '''always refer to the official iCub documentation first''':
* http://www.yarp.it
* http://wiki.icub.org/wiki/Manual#Six._Software.2C_Installing_YARP_and_iCub
* http://wiki.icub.org/wiki/ICub_Software_Installation
* Virtual Machine that contains pre-installed software: https://github.com/robotology/vagrant-icub


== Preliminary software ==
Below, we list some unofficial additional notes provided by [[Vislab|VisLab]] members.


Effective August 2009, YARP and iCub software repositories have been moved to SourceForge.net servers and must be downloaded with Subversion (SVN).
''See [[iCub software/Archive]] for obsolete information.''


You should install an SVN client on your system if you do not have one already. For Windows, [http://tortoisesvn.tigris.org/ TortoiseSVN] is recommended. If you run Linux or other UNIX flavours, chances are high that you can just go ahead using <code>svn</code> in command line (if that is not the case, install it with <code>sudo apt-get install subversion</code> or equivalent).
== Dependencies ==


Furthermore, you should install [http://www.cmake.org/ CMake]. In Linux, type <code>sudo apt-get install make cmake cmake-curses-gui</code>
In Linux, refer to [[iCub machines configuration#Dependencies]].


== Environment variables ==
== Environment variables ==


The following environment variables must be set. Since summer 2010, it is recommended that they really point to different directories on your system:
The following environment variables must be set.
* <code>YARP_ROOT</code>: location of the yarp2 source code
* <code>YARP_DIR</code>: yarp2 build directory
* <code>ICUB_ROOT</code>: location of the iCub source code
* <code>ICUB_DIR</code>: iCub build directory


=== Windows environment variables ===
* <code>YARP_ROOT</code>: location of the yarp source code
* <code>YARP_DIR</code>: yarp build directory, usually <code>YARP_ROOT/build</code>
* <code>ICUB_ROOT</code>: location of the icub-main source code
* <code>ICUB_DIR</code>: icub-main build directory, usually <code>ICUB_ROOT/build</code>


Typical choices are:
In Linux, refer to [[iCub machines configuration#Environment variables]].
* <code>YARP_ROOT</code> = C:/yarp2
* <code>YARP_DIR</code> = C:/yarp2/build
* <code>ICUB_ROOT</code> = C:/icub
* <code>ICUB_DIR</code> = C:/icub/main/build
 
=== Linux environment variables ===
 
Typical choices are:
  export YARP_ROOT=~/yarp2
  export YARP_DIR=$YARP_ROOT/build
  export ICUB_ROOT=~/iCub
  export ICUB_DIR=$ICUB_ROOT/main/build
 
Create a file called <code>.bash_env</code> in your home directory and copy the above lines in there.
 
Then, before the following line of <code>/etc/bash.bashrc</code>
  [ -z "$PS1" ] && return
add this:
  # per-user environment variables (non-interactive and interactive mode)
  source $HOME/.bash_env
 
This is not the only way to set these variables systemwide and enforce them in non-interactive mode too (needed by <code>yarprun</code>), however we recommend it.


== YARP ==
== YARP ==


=== Browsing the yarp2 repository online ===
=== Browsing the yarp repository online ===


http://yarp0.svn.sf.net/viewvc/yarp0/trunk/yarp2/
https://github.com/robotology/yarp


=== Getting the yarp2 repository in Windows ===
=== Getting the yarp repository in Windows ===


Inside TortoiseSVN, use the file manager to browse to the location where you would like to download the code. Right click on an empty region of the window and select "SVN checkout" from the contextual menu.
Inside TortoiseGit, use the file manager to browse to the location where you would like to download the code; right click on an empty region of the window and select "checkout" from the contextual menu; type the above address in the "URL of repository" field. No password or username will be required.
 
Type the following string in the entry "URL of repository":
 
  https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2
 
No password or username will be required.


Note: if you use Cygwin, refer to Linux instructions instead.
Note: if you use Cygwin, refer to Linux instructions instead.


=== Installing yarp2 in Windows ===
=== Installing yarp in Windows ===


Note: all environment variables should have '/' and NOT '\' (except in the <code>PATH</code> enviroment variable)! The directories do not need to be the same as the ones presented here, just be sure to alter the environment variables correctly.
Note: all environment variables should have '/' and NOT '\' (except in the <code>PATH</code> enviroment variable).


# Download ACE and GSL from http://eris.liralab.it/iCub/downloads/packages/windows/msvc8/ ; unzip them to a directory of your choice and remember it.
=== Getting the yarp repository in Linux ===
# If you want GUIs, download GTKMM from http://live.gnome.org/gtkmm/MSWindows and use the installer.
# Create the environment variables <code>ACE_ROOT</code>, <code>GTK_BASEPATH</code>, <code>GTKMM_BASEPATH</code>, <code>GSL_DIR</code> as follows:
#* <code>ACE_ROOT</code> is ACE dir (e.g., C:/ace_wrappers).
#* <code>GTK_BASEPATH</code> and <code>GTKMM_BASEPATH</code> is GTKMM dir (C:/gtkmm).
#* <code>GSL_DIR</code> is GSL dir (C:/gsl-1.8).
# Add this to the <code>PATH</code> environment variable: <code>%ACE_ROOT%/lib</code> (important: make sure you put it at the beginning of the <code>PATH</code> environment variable, to avoid conflicts with other existing ACE versions on the system)
# Make sure that <code>YARP_ROOT</code> and <code>YARP_DIR</code> are correctly set.
# Add this to the <code>PATH</code> enviroment variable: <code>%YARP_DIR%/bin/Release</code> (and/or <code>Debug</code>). Note: these directories will be created later
# Use CMake to build the YARP SLN files. Point the source code to the yarp2 dir, and build to the yarp2/build dir (which will be created now).
# In CMake, check the flags CREATE_DEVICE_LIBRARY_MODULES, CREATE_LIB_MATH and, optionally, CREATE_GUIS (don't uncheck anything!).
# Click: Configure, Configure, Generate.
# Go to <code>YARP_DIR</code> and open YARP.sln with Visual Studio
# Go to Build->Batch Build
# Check ALL_BUILD (Release and/or Debug) and Build!


=== Getting the yarp2 repository in Linux ===
Run the following command in a console terminal, typically from the <code>$code</code> directory:
git clone https://github.com/robotology/yarp.git


Paste the following command in a console terminal:
=== Compiling the yarp repository in Linux ===
  svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2
This will create a new directory called '''yarp2''' that contains the software. Your environment variable <code>YARP_ROOT</code> should be set to that directory (e.g., <code>/home/yourname/yarp2</code>).


=== Compiling the yarp2 repository in Linux ===
mkdir $YARP_DIR
cd $YARP_DIR
ccmake $YARP_ROOT


To compile the yarp2 repository, go to <code>YARP_DIR</code> (the first time you must create it) and '''generate the project files''' with the CMake program with the command
In the CMake interface, set the following
  ccmake $YARP_ROOT
CMAKE_BUILD_TYPE Release
and you obtain a Makefile.
CREATE_LIB_MATH ON
then hit c and g in order to '''generate the project files''', to obtain the Makefile.


Having generated your project file, only the actual compilation remains to be done:
Having generated your project file, only the actual compilation remains to be done:
  make
make


=== Updating the yarp2 repository in Linux ===
Don't use <strike><code>sudo make install</code></strike>! Rather, add the location of the binaries to the <code>$PATH</code> environment variable (see below).


  cd $YARP_ROOT
=== Updating the yarp repository in Linux ===
  svn update


=== Recommended CMake flags for yarp2 ===
cd $YARP_ROOT
 
git pull
  CMAKE_BUILD_TYPE Release
  CREATE_GUIS ON
  CREATE_LIB_MATH ON


=== Downloading YARP as a single file ===
=== Downloading YARP as a single file ===


If for whatever reason you cannot use SVN on a machine, or you do not want the very latest revision of the repository, you may just download a single file containing YARP here: [http://eris.liralab.it/yarp/specs/dox/download.html]. Pre-compiled binaries are also available.
Refer to http://www.yarp.it. Pre-compiled binaries are also available.


== iCub ==
== iCub ==
Line 115: Line 74:
=== Browsing the iCub repository online ===
=== Browsing the iCub repository online ===


http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/
'''icub-main'''
 
https://github.com/robotology/icub-main/
 
'''iCub Contrib Software'''
 
These are small repositories in the Robotology organization page, which contain special components and demos, for example the ball tracking and grasping demo is here:
https://github.com/robotology/icub-basic-demos/


=== Getting the iCub repository in Windows ===
=== Getting the iCub repository in Windows ===


Inside TortoiseSVN, use the file manager to browse to the location where you would like to download the code. Right click on an empty region of the window and select "SVN checkout" from the contextual menu.
Inside TortoiseGit, use the file manager to browse to the location where you would like to download the code; right click on an empty region of the window and select "checkout" from the contextual menu; type the repository address in the "URL of repository" entry.


Type the following string in the entry "URL of repository":
Note: if you use Cygwin, refer to Linux instructions instead.


  https://robotcub.svn.sourceforge.net/svnroot/robotcub/trunk/iCub
=== Getting the iCub repository in Linux ===


No password or username will be required.
'''icub-main'''


Note: if you use Cygwin, refer to Linux instructions instead.
Run the following command in a console terminal, typically from the <code>$code</code> directory:
git clone https://github.com/robotology/icub-main.git


=== Installing iCub in Windows ===
'''contrib software'''


# Make sure that <code>ICUB_ROOT</code> and <code>ICUB_DIR</code> are correctly set.
Set up icub-contrib-common (see below), then get the contrib application that you wish to install (for example POETICON++), CMake and build it.
# Install OpenCV 1.0, available at http://sourceforge.net/projects/opencvlibrary/files/ . Make sure that the variable <code>OPENCV_DIR</code> was created and add <code>%OPENCV_DIR%/bin</code> to the <code>PATH</code> environment variable.
# If you intend to use the iKin kinematics modules (normally you don't - this is only needed on servers), then download IPOPT, unzip it and create the environment variable <code>IPOPT_DIR</code>, e.g. C:\Ipopt-3.7.0-win32-msvc8-yarp
# Use CMake to build the iCub SLN files. Point the source code to the icub/main dir, and build to the icub/main/build dir (which will be created now).
# In CMake, check YARP_AUTO_LINK (not sure why?) and the modules you might want working (don't unheck anything!).
# Click: Configure, Configure, Generate.
# Go to <code>ICUB_DIR</code>, open iCub.sln
# Go to Build->Batch Build
# Check ALL_BUILD (Release and/or Debug) and Build! (sometimes frameGrabberGui2 will not compile correctly)


=== Getting the iCub repository in Linux ===
'''firmware''' (only for [[pc104]])


Paste the following command in a console terminal:
git clone https://github.com/robotology/icub-firmware-shared
  svn co https://robotcub.svn.sourceforge.net/svnroot/robotcub/trunk/iCub
git clone https://github.com/robotology/icub-firmware-build
This will create a new directory called '''iCub''' that contains the software. Your environment variable <code>ICUB_ROOT</code> should be set to that directory (e.g., <code>/home/yourname/iCub</code>).


=== Compiling the iCub repository in Linux ===
=== Compiling the iCub repository in Linux ===


To compile the iCub repository, go to <code>ICUB_DIR</code> (the first time you must create it) and '''generate the project files''' with the CMake program, typing with the command
'''icub-main'''
  ccmake $ICUB_ROOT/main
and you obtain a Makefile.


Having generated your project file, only the actual compilation remains to be done:
mkdir $ICUB_DIR
  make
cd $ICUB_DIR
ccmake $ICUB_ROOT


=== Updating the iCub repository in Linux ===
In the CMake interface, set the following
CMAKE_BUILD_TYPE Release
ENABLE_icubmod_cartesiancontrollerclient ON
ENABLE_icubmod_cartesiancontrollerserver ON
ENABLE_icubmod_gazecontrollerclient ON
then hit c and g in order to '''generate the project files''', to obtain the Makefile.


  cd $ICUB_ROOT
Having generated your project file, the actual compilation remains to be done:
  svn update
make


=== Recommended CMake flags for iCub ===
Provided that <code>YARP_ROBOT_NAME=iCubLisboa01</code> is set, robot-specific files will be automatically copied by CMake.


  CMAKE_BUILD_TYPE Release
Don't use <strike><code>sudo make install</code></strike>! Rather, add the location of the binaries to the <code>$PATH</code> environment variable (see below).


=== Downloading iCub snapshot files ===
'''icub-contrib-common metapackage''' (to use contrib modules, i.e., modules outside icub-main)


Periodic snapshots of the iCub repository are available at http://eris.liralab.it/iCub/downloads/src/
Follow the official instructions at the bottom of http://wiki.icub.org/wiki/Linux:Installation_from_sources but '''make sure to point CMAKE_INSTALL_PREFIX to the full path corresponding to $ICUBcontrib_DIR''', which is accessible without administrator privileges and whose binaries will be within $PATH. To accomplish this, follow these simple instructions, paying attention to the part in bold.


Note that there are two types of files:
Verify that your <code>.bashrc_iCub</code> file (or equivalent) contains these environment variables:
* iCub-src-x.y.z.tar.gz: the whole iCub repository, version x.y.z
export ICUBcontrib_DIR=$code/icub-contrib-common/build
* iCub-dep-x.y.z.txt: a list of the libraries, software packages and environment variables that are required to compile the code in snapshot x.y.z, including YARP version number.
export PATH=$PATH:$YARP_DIR/bin:$ICUB_DIR/bin:$ICUBcontrib_DIR/bin
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub:$ICUBcontrib_DIR/share/ICUBcontrib


== iCub Simulator ==
Set up the ICUBcontrib metapackage:
mkdir $ICUBcontrib_DIR
cd $ICUBcontrib_DIR
'''# the following command sets CMAKE_INSTALL_PREFIX to the path corresponding to $ICUBcontrib_DIR'''
'''# instead of /usr/local'''
'''cmake -DCMAKE_INSTALL_PREFIX=$(echo $ICUBcontrib_DIR) ..'''
ccmake ..
configure, generate, exit
make
make install


This component is optional. Refer to the official iCub manual, section 9 (Software), subsection 6 (Simulators), available at http://eris.liralab.it/wiki/Manual#Nine._Software.2C_iCub
Don't use <strike><code>sudo make install</code></strike>! Rather, add the location of the binaries to the <code>$PATH</code> environment variable (see above).


=== Installing iCub_SIM in Windows ===
At this point, you can install iCub Contrib applications with <code>make install</code> in their own build subdirectory (again, don't use sudo!). Binaries will be installed in $ICUBcontrib_DIR/bin. For example, to compile the POETICON++ build do the following:


# Download SDL (Simple DirectMedia Layer) from http://www.libsdl.org/ (Development Libraries), unzip it somewhere and note down the directory
cd $code/poeticon
# Download ODE from http://eris.liralab.it/iCub/downloads/packages/windows/msvc8/, unzip it somewhere as well
mkdir build
# Create the environment variables <code>SDLDIR</code>, <code>ODE_DIR</code>:
cd build
#* <code>ODE_DIR</code> is ODE dir (e.g., C:/ode-0.11.1).
cmake ..
#* <code>SDLDIR</code> is SDL dir (C:/SDL-1.2.14).
configure, generate, exit
# Add <code>%SDLDIR%/lib</code> to the <code>PATH</code> variable.
make
# Re-run CMake with the ODE, OPENCV and SDL variables checked.
make install
# Compile project iCub_SIM


=== Installing iCub_SIM in Mac OS X ===
=== Updating the iCub repository in Linux ===


See this page created by Martin Peniak of the University of Plymouth:
cd $ICUB_ROOT
http://www.martinpeniak.com/index.php?option=com_content&view=article&id=186&Itemid=131
git pull


== Committing changes to the repositories ==
== iCub Simulator ==


If you are a developer and you need to add/modify files within the repository, you need two things:
This component is optional. Refer to the official iCub manual, section 9 (Software), available at http://wiki.icub.org/wiki/Manual#Nine._Software.2C_iCub
* a SourceForge.net account; once you have that, send an email to the [http://sourceforge.net/project/memberlist.php?group_id=139262 RobotCub project administrators] to join the project
* make sure that your SVN client is configured correctly with regard to '''auto-props''', which is a mechanism that takes care of line endings and MIME filetypes according to wildcards (for example, setting some flags for *.txt files and other flags for *.sh). Go [http://www.mediawiki.org/wiki/Subversion/auto-props here] for a better explanation, and check the 'Subversion client flags' subpage (part of the official manual, linked below) for auto-props adopted by RobotCub developers.


== See also ==
== See also ==


* http://eris.liralab.it/wiki/Manual#Six._Software.2C_Compiling_YARP_and_iCub - official iCub manual
* http://wiki.icub.org/wiki/Manual#Six._Software.2C_Installing_YARP_and_iCub - official iCub manual
* http://eris.liralab.it/iCub/downloads/packages/windows/msvc8/
* [[iCub machines configuration]]


[[Category:Vislab]]
[[Category:Vislab]]

Latest revision as of 17:32, 19 July 2017

This article deals with the installation of YARP and iCub software. Word of advice: always refer to the official iCub documentation first:

Below, we list some unofficial additional notes provided by VisLab members.

See iCub software/Archive for obsolete information.

Dependencies

In Linux, refer to iCub machines configuration#Dependencies.

Environment variables

The following environment variables must be set.

  • YARP_ROOT: location of the yarp source code
  • YARP_DIR: yarp build directory, usually YARP_ROOT/build
  • ICUB_ROOT: location of the icub-main source code
  • ICUB_DIR: icub-main build directory, usually ICUB_ROOT/build

In Linux, refer to iCub machines configuration#Environment variables.

YARP

Browsing the yarp repository online

https://github.com/robotology/yarp

Getting the yarp repository in Windows

Inside TortoiseGit, use the file manager to browse to the location where you would like to download the code; right click on an empty region of the window and select "checkout" from the contextual menu; type the above address in the "URL of repository" field. No password or username will be required.

Note: if you use Cygwin, refer to Linux instructions instead.

Installing yarp in Windows

Note: all environment variables should have '/' and NOT '\' (except in the PATH enviroment variable).

Getting the yarp repository in Linux

Run the following command in a console terminal, typically from the $code directory: 

git clone https://github.com/robotology/yarp.git

Compiling the yarp repository in Linux

mkdir $YARP_DIR
cd $YARP_DIR
ccmake $YARP_ROOT

In the CMake interface, set the following 

CMAKE_BUILD_TYPE Release
CREATE_LIB_MATH ON

then hit c and g in order to generate the project files, to obtain the Makefile.

Having generated your project file, only the actual compilation remains to be done: 

make

Don't use sudo make install! Rather, add the location of the binaries to the $PATH environment variable (see below).

Updating the yarp repository in Linux

cd $YARP_ROOT
git pull

Downloading YARP as a single file

Refer to http://www.yarp.it. Pre-compiled binaries are also available.

iCub

Browsing the iCub repository online

icub-main

https://github.com/robotology/icub-main/

iCub Contrib Software

These are small repositories in the Robotology organization page, which contain special components and demos, for example the ball tracking and grasping demo is here: https://github.com/robotology/icub-basic-demos/

Getting the iCub repository in Windows

Inside TortoiseGit, use the file manager to browse to the location where you would like to download the code; right click on an empty region of the window and select "checkout" from the contextual menu; type the repository address in the "URL of repository" entry.

Note: if you use Cygwin, refer to Linux instructions instead.

Getting the iCub repository in Linux

icub-main

Run the following command in a console terminal, typically from the $code directory: 

git clone https://github.com/robotology/icub-main.git

contrib software

Set up icub-contrib-common (see below), then get the contrib application that you wish to install (for example POETICON++), CMake and build it.

firmware (only for pc104) 

git clone https://github.com/robotology/icub-firmware-shared
git clone https://github.com/robotology/icub-firmware-build

Compiling the iCub repository in Linux

icub-main 

mkdir $ICUB_DIR
cd $ICUB_DIR
ccmake $ICUB_ROOT

In the CMake interface, set the following 

CMAKE_BUILD_TYPE Release
ENABLE_icubmod_cartesiancontrollerclient ON
ENABLE_icubmod_cartesiancontrollerserver ON
ENABLE_icubmod_gazecontrollerclient ON

then hit c and g in order to generate the project files, to obtain the Makefile.

Having generated your project file, the actual compilation remains to be done: 

make

Provided that YARP_ROBOT_NAME=iCubLisboa01 is set, robot-specific files will be automatically copied by CMake.

Don't use sudo make install! Rather, add the location of the binaries to the $PATH environment variable (see below).

icub-contrib-common metapackage (to use contrib modules, i.e., modules outside icub-main)

Follow the official instructions at the bottom of http://wiki.icub.org/wiki/Linux:Installation_from_sources but make sure to point CMAKE_INSTALL_PREFIX to the full path corresponding to $ICUBcontrib_DIR, which is accessible without administrator privileges and whose binaries will be within $PATH. To accomplish this, follow these simple instructions, paying attention to the part in bold.

Verify that your .bashrc_iCub file (or equivalent) contains these environment variables: 

export ICUBcontrib_DIR=$code/icub-contrib-common/build
export PATH=$PATH:$YARP_DIR/bin:$ICUB_DIR/bin:$ICUBcontrib_DIR/bin
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub:$ICUBcontrib_DIR/share/ICUBcontrib

Set up the ICUBcontrib metapackage: 

mkdir $ICUBcontrib_DIR
cd $ICUBcontrib_DIR
# the following command sets CMAKE_INSTALL_PREFIX to the path corresponding to $ICUBcontrib_DIR
# instead of /usr/local
cmake -DCMAKE_INSTALL_PREFIX=$(echo $ICUBcontrib_DIR) ..
ccmake ..
configure, generate, exit
make
make install

Don't use sudo make install! Rather, add the location of the binaries to the $PATH environment variable (see above).

At this point, you can install iCub Contrib applications with make install in their own build subdirectory (again, don't use sudo!). Binaries will be installed in $ICUBcontrib_DIR/bin. For example, to compile the POETICON++ build do the following: 

cd $code/poeticon
mkdir build
cd build
cmake ..
configure, generate, exit
make
make install

Updating the iCub repository in Linux

cd $ICUB_ROOT
git pull

iCub Simulator

This component is optional. Refer to the official iCub manual, section 9 (Software), available at http://wiki.icub.org/wiki/Manual#Nine._Software.2C_iCub

See also

Retrieved from "http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_software&oldid=6790"