ICub software

This article deals with the installation of YARP and iCub software.

Please always refer to the official iCub manual first (http://wiki.icub.org/wiki/ICub_Software_Installation). It features up-to-date instructions on how to install the software, both from pre-compiled packages or from sources.

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

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 VisLab machines configuration#Environment variables for typical variables and instructions on where to set them.

YARP

Browsing the yarp repository online

https://github.com/robotology/yarp

Getting the yarp repository in Windows

Inside TortoiseGit/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 "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)! The directories do not need to be the same as the ones presented here, just be sure to alter the environment variables correctly.

1. 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.
2. If you want GUIs, download GTKMM from http://live.gnome.org/gtkmm/MSWindows and use the installer.
3. Create the environment variables ACE_ROOT, GTK_BASEPATH, GTKMM_BASEPATH, GSL_DIR as follows:
   • ACE_ROOT is ACE dir (e.g., C:/ace_wrappers).
   • GTK_BASEPATH and GTKMM_BASEPATH is GTKMM dir (C:/gtkmm).
   • GSL_DIR is GSL dir (C:/gsl-1.8).
4. Add this to the PATH environment variable: %ACE_ROOT%/lib (important: make sure you put it at the beginning of the PATH environment variable, to avoid conflicts with other existing ACE versions on the system)
5. Make sure that YARP_ROOT and YARP_DIR are correctly set.
6. Add this to the PATH enviroment variable: %YARP_DIR%/bin/Release (and/or Debug). Note: these directories will be created later
7. Use CMake to build the YARP SLN files. Point the source code to the yarp dir, and build to the yarp/build dir (which will be created now).
8. In CMake, check the flags CREATE_DEVICE_LIBRARY_MODULES, CREATE_LIB_MATH and, optionally, CREATE_GUIS (don't uncheck anything!).
9. Click: Configure, Configure, Generate.
10. Go to YARP_DIR and open YARP.sln with Visual Studio
11. Go to Build->Batch Build
12. Check ALL_BUILD (Release and/or Debug) and Build!

Getting the yarp repository in Linux

To clone the repository, you can use one of these addresses:

• (git read-only) git://github.com/robotology/yarp.git
• (ssh read+write) git@github.com:robotology/yarp.git
• (https read+write) https://github.com/robotology/yarp.git

More instructions are located at https://github.com/robotology/yarp.

To use this repository through SVN, you will have to do a new checkout (checkouts prior to March 2013 are not compatible):

 svn co https://github.com/robotology/yarp/trunk yarp

Compiling the yarp repository in Linux

To compile the yarp repository, go to YARP_DIR (the first time you must create it) and generate the project files with the CMake program with the command

 ccmake $YARP_ROOT

and you obtain a Makefile.

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

 make

Updating the yarp repository in Linux

  cd $YARP_ROOT
  git pull (or svn update)

Recommended CMake flags for yarp

 CMAKE_BUILD_TYPE Release
 CREATE_LIB_MATH ON

Downloading YARP as a single file

Refer to http://wiki.icub.org/yarpdoc/index.html -> Downloads. Pre-compiled binaries are also available.

iCub

Browsing the iCub repository online

icub-main:

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

icub-contrib, icub-firmware:

http://sf.net/p/robotcub/code/HEAD/tree/trunk/iCub/ (pretty interface, ability to show diffs)

or

https://svn.code.sf.net/p/robotcub/code/trunk/iCub/ (simple and raw interface, faster to load)

Getting the iCub repository in Windows

Inside TortoiseGit/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 "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.

Installing iCub in Windows

1. Make sure that ICUB_ROOT and ICUB_DIR are correctly set.
2. Install OpenCV (1.0 works, not sure about newer versions), available at http://sourceforge.net/projects/opencvlibrary/files/ . Make sure that the variable OPENCV_DIR was created and add %OPENCV_DIR%/bin to the PATH environment variable.
3. 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 IPOPT_DIR, e.g. C:\Ipopt-3.7.0-win32-msvc8-yarp
4. 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.
5. In CMake, check YARP_AUTO_LINK (not sure why?) and the modules you might want working (don't uncheck anything).
6. Click: Configure, Configure, Generate.
7. Go to ICUB_DIR, open iCub.sln
8. Go to Build->Batch Build
9. Check ALL_BUILD (Release and/or Debug) and Build! (sometimes frameGrabberGui2 will not compile correctly)

Getting the iCub repository in Linux

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

 svn co https://svn.code.sf.net/p/robotcub/code/trunk/iCub

Notice that this may take some time. Alternatively you can download individual parts of the repository (i.e. main and contrib or firmware).

This will create a new directory called iCub that contains the software. Your environment variable ICUB_ROOT should be set to that directory (e.g., $code/iCub).

Compiling the iCub repository in Linux

icub-main

To compile the iCub repository, go to ICUB_DIR (the first time you must create it) and generate the project files with the CMake program, typing with the command

 ccmake $ICUB_ROOT/main

and you obtain a Makefile.

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

 make

With YARP > 2.3.23 and iCub > 1.1.13 software versions, your installation is finished at this point. Provided that YARP_ROBOT_NAME=iCubLisboa01 is set, robot-specific files will be automatically copied by CMake.

With older versions, you needed to define the environment variable ICUB_ROBOTNAME=iCubLisboa01 and type

 make install_applications

icub-contrib

We follow the official instructions at the bottom of http://wiki.icub.org/wiki/Linux:Installation_from_sources, with a few differences in order to avoid installing these applications with sudo in system directories (/usr/local/lib, /usr/local/share).

Put these into .bash_env:

export ICUBcontrib_DIR=$ICUB_ROOT/contrib/build
export PATH=$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

Now:

mkdir $ICUB_ROOT/contrib/build
mkdir $ICUB_ROOT/contrib/src/ICUBcontrib/build
cd $ICUB_ROOT/contrib/src/ICUBcontrib/build
ccmake ..
// CMAKE_INSTALL_PREFIX must point to full $ICUBcontrib_DIR path
// configure, generate, exit
make install

At this point, you can install contrib applications with make install in their own build subdirectory (don't use sudo!). Binaries will be installed in $ICUBcontrib_DIR/bin.

Updating the iCub repository in Linux

  cd $ICUB_ROOT
  git pull (or svn update)

Recommended CMake flags for iCub

 CMAKE_BUILD_TYPE Release

Downloading iCub snapshot files

There are two types of files:

• iCub-src-x.y.z.tar.gz: the whole iCub repository, version x.y.z
• 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.

iCub Simulator

This component is optional. Refer to the official iCub manual, section 9 (Software), subsection 6 (Simulators), available at http://wiki.icub.org/wiki/Manual#Nine._Software.2C_iCub

Installing iCub_SIM in Windows

1. Download SDL (Simple DirectMedia Layer) from http://www.libsdl.org/ (Development Libraries), unzip it somewhere and note down the directory
2. Download ODE from http://wiki.icub.org/iCub/downloads/packages/windows/msvc8/, unzip it somewhere as well
3. Create the environment variables SDLDIR, ODE_DIR:
   • ODE_DIR is ODE dir (e.g., C:/ode-0.11.1).
   • SDLDIR is SDL dir (C:/SDL-1.2.14).
4. Add %SDLDIR%/lib to the PATH variable.
5. Re-run CMake with the ODE, OPENCV and SDL variables checked.
6. Compile project iCub_SIM

Installing iCub_SIM in Mac OS X

See these pages:

• iCub simulator on Mac OS X Lion: the definitive (?) tutorial by Fabio Ruini, University of Plymouth
• iCub simulator, complete MacOSX installation quide by Martin Peniak, University of Plymouth

Committing changes to the repositories

If you are a developer and you need to add/modify files within the repository, talk to one of the main developers and use Github/SourceForge.

With SVN, make sure that your 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). Here is a better explanation, see also the 'Subversion client flags' subpage (part of the official manual, linked below) for auto-props adopted by iCub developers

To commit an application "APPNAME" (consisting of several modules and connections) in the repository:

1. commit the source code
2. commit a .xml.template file in the app directory, containing generic node names like "pwrNode1", "console"
3. commit a VisLab-specific .xml file in the iCubLisboa01 directory, or in contrib, containing our node names like "icubbrain1", "chico3" etc.

See also

• http://eris.liralab.it/wiki/Manual#Six._Software.2C_Installing_YARP_and_iCub - official iCub manual
• http://eris.liralab.it/iCub/downloads/packages/windows/msvc8/