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= Additional setup =
= Additional setup =
== System-wide libraries and repositories ==
=== YARP ===
Presently (November 2010), the [[RobotCub software | yarp2 SVN repository]] is installed under user <code>yarp</code> (with <code>sudo make install</code>), last updated on 13-July-2010. <-- change this policy?
=== iCub ===
Presently (November 2010), the [[RobotCub software | iCub SVN repository]] is installed under user <code>icub</code> (with <code>sudo make install</code>), last updated on 13-July-2010. <-- change this policy?
There was a conflict with iKin, which could not find <code>libipopt.so.0</code>, but it is now fixed thanks to setting the environment variable
  LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/
into <code>/home/icub/.bash_env</code>.
One module has been disabled in the CMakeList.txt file, because it was not compiling properly: crawling.


== User repositories ==
== User repositories ==

Revision as of 17:04, 26 November 2010

Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to Cortex.

Additional setup

System-wide libraries and repositories

YARP

Presently (November 2010), the yarp2 SVN repository is installed under user yarp (with sudo make install), last updated on 13-July-2010. <-- change this policy?

iCub

Presently (November 2010), the iCub SVN repository is installed under user icub (with sudo make install), last updated on 13-July-2010. <-- change this policy?

There was a conflict with iKin, which could not find libipopt.so.0, but it is now fixed thanks to setting the environment variable

 LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/

into /home/icub/.bash_env.

One module has been disabled in the CMakeList.txt file, because it was not compiling properly: crawling.

User repositories

you should add <iCub>/bin to your PATH by editing your ~/.bashrc like this:

 PATH=$PATH:~/iCub/bin/
 ICUB_DIR=~/iCub/ <-- needs to change
 export ICUB_DIR
 ICUB_ROOT=$ICUB_DIR
 export ICUB_ROOT

You should also edit ~/.bash_env adding these lines:

 export ICUB_DIR=$HOME/iCub <-- needs to change
 export ICUB_ROOT=$ICUB_DIR

this is needed when you connect non-interactively via ssh to a Cortex computer, for instance when execute a "yarp run ..." on a Cortex, from Chico2.

Be aware that Ubuntu 7.10 (the version currently installed on the cluster) has a conflict with iKin, specifically with iCub/conf/FindIPOPT.cmake (used by iKin): for now, in order to compile iKin, change the following line of FindIPOPT.cmake from

  SET(IPOPT_LIB   ${IPOPT_LIB} gfortranbegin gfortran)

to

  SET(IPOPT_LIB   ${IPOPT_LIB} gfortran)