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
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 codeYARP_DIR: yarp build directory, usuallyYARP_ROOT/buildICUB_ROOT: location of the icub-main source codeICUB_DIR: icub-main build directory, usuallyICUB_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 git://github.com/robotology/yarp.git
Compiling the yarp repository in Linux
mkdir $YARP_DIR cd $YARP_DIR ccmake $YARP_ROOT
In the CMake interface, set the following
CMAKE_BUILD_TYPE Release CREATE_LIB_MATH ON
then hit c and g in order to generate the project files, to obtain the Makefile.
Having generated your project file, only the actual compilation remains to be done:
make
Don't use sudo make install$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 git://github.com/robotology/icub-main.git
iCub Contrib Software
First get these CMake scripts:
git clone git://github.com/robotology/icub-contrib-common.git
Then get the actual contrib application that you wish to install (for example POETICON++), CMake and build it.
iCub Firmware (only for pc104)
git clone git://github.com/robotology/icub-firmware-shared git clone git://github.com/robotology/icub-firmware-build
Compiling the iCub repository in Linux
icub-main
mkdir $ICUB_DIR cd $ICUB_DIR ccmake $ICUB_ROOT
In the CMake interface, set the following
CMAKE_BUILD_TYPE Release ENABLE_icubmod_cartesiancontrollerclient ON ENABLE_icubmod_cartesiancontrollerserver ON ENABLE_icubmod_gazecontrollerclient ON
then hit c and g in order to generate the project files, to obtain the Makefile.
Having generated your project file, the actual compilation remains to be done:
make
Provided that YARP_ROBOT_NAME=iCubLisboa01 is set, robot-specific files will be automatically copied by CMake.
Don't use sudo make install$PATH environment variable (see below).
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 ensure that binaries and settings used by the system are the ones located in $PATH:
Verify that your .bashrc_iCub file (or equivalent) contains these environment variables:
export ICUBcontrib_DIR=$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
Next, set up the ICUBcontrib meta-package:
mkdir $ICUBcontrib_DIR cd $ICUBcontrib_DIR ccmake .. // *** set CMAKE_INSTALL_PREFIX to be the full $ICUBcontrib_DIR path, // e.g., /usr/local/src/robot/icub-contrib-common/build *** // // configure, generate, exit make install
Don't use sudo make install$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 .. 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