Difference between revisions of "Homebrew Mavericks"

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'''The YARP section of the page is outdated. Up to date instructions for installing YARP on OS X can be found at''' http://wiki.icub.org/yarpdoc/install_yarp_mac.html
 +
 
This installation has been confirmed to work on OSX Mavericks and Yosemite with Homebrew.
 
This installation has been confirmed to work on OSX Mavericks and Yosemite with Homebrew.
 
Latest update and testing: 21/10/2014 - using OS X 10.10 with or without Xcode 6.1
 
Latest update and testing: 21/10/2014 - using OS X 10.10 with or without Xcode 6.1
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'''If you do not see the option install Command Line Tools''',  run the following on a terminal
 
'''If you do not see the option install Command Line Tools''',  run the following on a terminal
   xcode-select —install
+
   xcode-select --install
  
 
Once this is done, you can now continue with the installation steps
 
Once this is done, you can now continue with the installation steps
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In OS X 10.8 Mountain Lion and later, '''X11''' is not provided anymore. You need to install '''XQuartz''', from [http://xquartz.macosforge.org/landing/ http://xquartz.macosforge.org/landing/].
 
In OS X 10.8 Mountain Lion and later, '''X11''' is not provided anymore. You need to install '''XQuartz''', from [http://xquartz.macosforge.org/landing/ http://xquartz.macosforge.org/landing/].
In earlier version of OS X, this is not stricly necessary, but recommended as XQuartz is more robust and updated that the system-provided X11.
+
In earlier versions of OS X, this is not strictly necessary but recommended as XQuartz is more robust and updated that the system-provided X11.
  
 
= Installing Homebrew =
 
= Installing Homebrew =
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= Installing Yarp =
 
= Installing Yarp =
 +
Up to date instructions for installing YARP on OS X can be found at''' http://wiki.icub.org/yarpdoc/install_yarp_mac.html.
 +
Remember to explicitly check out the latest YARP release according to the instructions in [[Software Versioning Table]].
  
Here we provide information for installing the '''YARP''' dependencies via '''Homebrew''' and getting and compiling '''YARP''' from the repository.
 
Install YARP dependencies
 
  brew install `brew deps --1 yarp | sed -e ':a' -e 'N' -e '$!ba' -e 's/\n/ /g'`
 
and the following for yarpbuilder
 
  brew install goocanvas
 
you can now follow this link and download Qt 5.3.2 Open Source.
 
http://download.qt-project.org/official_releases/online_installers/qt-opensource-mac-x64-1.6.0-5-online.dmg
 
or just follow this link and download it yourself http://qt-project.org/downloads
 
Install the dmg package by default in your home and add its '''environmental variable''':
 
  cd ~
 
  open -a TextEdit .bash_profile
 
and copy the following lines:
 
export Qt5_DIR=/Users/your_user_name/Qt/5.3/clang_64
 
 
Now you would need to configure pkg-config
 
Add this to the .bash_profile in order to correctly do this:
 
  cd ~
 
  open -a TextEdit .bash_profile
 
and copy the following line:
 
  export PKG_CONFIG_PATH=/usr/X11/lib/pkgconfig/:$PKG_CONFIG_PATH
 
 
Programs that require this '''GDK PIXBUF''' need to set the environment variable correctly. Just to be on the safe side  add this to the .bash_profile
 
  export GDK_PIXBUF_MODULEDIR="/usr/local/lib/gdk-pixbuf-2.0/2.10.0/loaders"
 
 
In the directory where you would like to store your code, e.g. /Users/your_user_name/Dev/ run the following to clone YARP on your system
 
  git clone https://github.com/robotology/yarp.git
 
Compile YARP :
 
  cd yarp
 
  mkdir build
 
  cd build
 
  ccmake ..
 
configure it correctly and
 
  make
 
In order to generate and Xcode project do the following
 
  cd yarp
 
  mkdir build
 
  cd build
 
  ccmake .. -G Xcode
 
This will generate a YARP.xcodeproj file which can be opened with Xcode.
 
 
Build it by clicking Product -> Build or cmd+B shortcut
 
 
Then create the Release binaries by clicking Product -> Archive
 
 
Now you need to set the '''environmental variables''':
 
  cd ~
 
  open -a TextEdit .bash_profile
 
and copy the following lines:
 
  export code=/Users/your_user_name/Dev
 
  export YARP_ROOT=/Users/your_user_name/Dev/yarp
 
  export YARP_DIR=/Users/your_user_name/Dev/yarp/build
 
  export PATH=$YARP_DIR/bin/Release:$PATH
 
 
Notice that if you used the terminal version without Xcode the last line becomes:
 
  export PATH=$YARP_DIR/bin:$PATH
 
Now setup YARP_DATA_DIRS by adding this to the .bash_profile
 
  export YARP_DATA_DIRS=/Users/your_user_name/Dev/yarp/build/share/yarp:/Users/your_user_name/Dev/icub-main/build/share/iCub
 
 
Now to quickly test the system run this in a terminal
 
  yarp
 
and you should get something like
 
  This is the YARP network companion.
 
  Call with the argument "help" to see a list of ways to use this program.
 
 
= Installing Yarp Bindings=
 
To correctly install the YARP bindings you will need '''swig'''
 
  brew install swig
 
 
Once '''YARP''' is correctly installed you can now proceed with the '''iCub''' installation
 
 
= Installing iCub =
 
= Installing iCub =
 
Here we provide information for installing the '''iCub''' dependencies via '''Homebrew''' and getting and compiling '''iCub''' from the repository.  
 
Here we provide information for installing the '''iCub''' dependencies via '''Homebrew''' and getting and compiling '''iCub''' from the repository.  
 
Install YARP dependencies   
 
Install YARP dependencies   
 
   brew install sdl sdl_gfx sdl_image
 
   brew install sdl sdl_gfx sdl_image
   brew install ode --enable-double-precision
+
   brew install ode --enable-double-precision --with-trimesh=gimpact
  brew install --with-qt3support qt
+
Now gcc is needed to correctly install gfortran. Of course, there are other ways of installing gfortran but this is the easiest way to do it.
Now gcc is needed to correctly install gfortran. Of course there are other ways of installing gfortran but this is the easiest way to do it.
 
 
   brew install gcc
 
   brew install gcc
  
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export OpenCV_DIR=/Users/your_user_name/Dev/opencv-2.4.9/build
 
export OpenCV_DIR=/Users/your_user_name/Dev/opencv-2.4.9/build
  
Download and setup '''IPOPT''' at the time of writing of this documentation the latest version tested was '''Ipopt-3.11.8'''
+
Download and setup '''IPOPT''' at the time of writing of this documentation the latest version tested was '''Ipopt-3.12.1'''
 
   cd $code
 
   cd $code
   wget http://www.coin-or.org/download/source/Ipopt/Ipopt-3.11.8.zip
+
   wget http://www.coin-or.org/download/source/Ipopt/Ipopt-3.12.1.zip
   unzip Ipopt-3.11.8.zip
+
   unzip Ipopt-3.12.1.zip
 +
Create a build directory
 +
cd $code
 +
cd Ipopt-3.12.1
 +
mkdir build
 +
 
 
Now you need to set the '''environmental variables''':
 
Now you need to set the '''environmental variables''':
 
   cd ~
 
   cd ~
 
   open -a TextEdit .bash_profile
 
   open -a TextEdit .bash_profile
 
and copy the following lines:
 
and copy the following lines:
   export IPOPT_DWN_DIR=/Users/your_user_name/Dev/Ipopt-3.11.8
+
   export IPOPT_DWN_DIR=/Users/your_user_name/Dev/Ipopt-3.12.1
   export IPOPT_DIR=/Users/vtikha/your_user_name/Ipopt-3.11.8/build
+
   export IPOPT_DIR=/Users/your_user_name/Dev/Ipopt-3.12.1/build
 +
 
 +
To refresh and load these environment settings type:
 +
source ~/.bash_profile
 +
 
 
open a new terminal and:
 
open a new terminal and:
   cd $IPOPT_DWN_DIR/ThirdParty/Blas & ./get.Blas
+
   cd $IPOPT_DWN_DIR/ThirdParty/Blas && ./get.Blas
   cd $IPOPT_DWN_DIR/ThirdParty/Lapack & ./get.Lapack
+
   cd $IPOPT_DWN_DIR/ThirdParty/Lapack && ./get.Lapack
   cd $IPOPT_DWN_DIR/ThirdParty/MUMPS & ./get.Mumps
+
   cd $IPOPT_DWN_DIR/ThirdParty/Mumps && ./get.Mumps
   cd $IPOPT_DWN_DIR/ThirdParty/Metis & ./get.Metis
+
   cd $IPOPT_DWN_DIR/ThirdParty/Metis && ./get.Metis
   cd $IPOPT_DWN_DIR/ThirdParty/ASL & ./get.ASL
+
   cd $IPOPT_DWN_DIR/ThirdParty/ASL && ./get.ASL
   cd $IPOPT_DIR & $IPOPT_DWN_DIR/configure
+
   cd $IPOPT_DIR && $IPOPT_DWN_DIR/configure --prefix=/usr/local
 +
  cd $IPOPT_DIR 
 
   make  
 
   make  
 
   make test
 
   make test
 
if the tests have passed then
 
if the tests have passed then
 
   sudo make install
 
   sudo make install
In the directory where you would like to store your code, e.g. /Users/your_user_name/Dev/ run the following to clone YARP on your system
+
In the directory where you would like to store your code, e.g. /Users/your_user_name/Dev/ run the following to clone YARP on your system:
 
   git clone https://github.com/robotology/icub-main.git
 
   git clone https://github.com/robotology/icub-main.git
Compile iCub :
+
Check out the correct tag as described in [[Software Versioning Table]]:
 
   cd icub-main
 
   cd icub-main
 +
  git checkout <tag>
 +
Compile iCub:
 
   mkdir build
 
   mkdir build
 
   cd build
 
   cd build
Line 196: Line 142:
 
Notice that if you used the terminal version without Xcode the last line becomes:
 
Notice that if you used the terminal version without Xcode the last line becomes:
 
   export PATH=$ICUB_DIR/bin:$PATH
 
   export PATH=$ICUB_DIR/bin:$PATH
 +
 +
To refresh and load these environment settings type:
 +
source ~/.bash_profile
  
 
You should now be ready to run any code from the iCub repository.
 
You should now be ready to run any code from the iCub repository.

Latest revision as of 09:41, 29 September 2019

The YARP section of the page is outdated. Up to date instructions for installing YARP on OS X can be found at http://wiki.icub.org/yarpdoc/install_yarp_mac.html

This installation has been confirmed to work on OSX Mavericks and Yosemite with Homebrew. Latest update and testing: 21/10/2014 - using OS X 10.10 with or without Xcode 6.1

Installing Xcode

To compile anything on OS X (including YARP), you'll need to have Xcode (http://developer.apple.com/xcode/) installed. This can be done through the App Store. Once installed, you need to install Command Line Tools.

To do this, open XCode, go to XCode->Preferences->Downloads and install Command Line Tools.

If you do not see the option install Command Line Tools, run the following on a terminal

 xcode-select --install

Once this is done, you can now continue with the installation steps

Installing X11

In OS X 10.8 Mountain Lion and later, X11 is not provided anymore. You need to install XQuartz, from http://xquartz.macosforge.org/landing/. In earlier versions of OS X, this is not strictly necessary but recommended as XQuartz is more robust and updated that the system-provided X11.

Installing Homebrew

Installing homebrew with the following commands or visit the following site official installation steps

ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"

After the installation, you can run the following command to check if your setup is good :

  brew doctor

If you had Homebrew already installed on your system, update and upgrade :

  brew update
  brew upgrade

Before proceeding with the installation we recommend installing wget using curl (can also be done in Homebrew with the following command: brew install wget)

 cd ~/Downloads
 curl -O http://ftp.gnu.org/gnu/wget/wget-1.15.tar.gz
 tar -zxvf wget-1.15.tar.gz
 cd wget-1.15/
 ./configure

if you get a error configuring: error: --with-ssl was given, but GNUTLS is not available, use the following command.

 ./configure --with-ssl=openssl
 make
 sudo make install

Installing Yarp

Up to date instructions for installing YARP on OS X can be found at http://wiki.icub.org/yarpdoc/install_yarp_mac.html.
Remember to explicitly check out the latest YARP release according to the instructions in Software Versioning Table.

Installing iCub

Here we provide information for installing the iCub dependencies via Homebrew and getting and compiling iCub from the repository. Install YARP dependencies

 brew install sdl sdl_gfx sdl_image
 brew install ode --enable-double-precision --with-trimesh=gimpact

Now gcc is needed to correctly install gfortran. Of course, there are other ways of installing gfortran but this is the easiest way to do it.

 brew install gcc

Download OPENCV @ http://opencv.org and set it properly, at the time of writing this documentation the latest version was opencv-2.4.9

 cd $code
 wget http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.9/opencv-2.4.9.zip
 unzip opencv-2.4.9.zip 
 cd opencv-2.4.9.zip 
 mkdir build
 cd build
 ccmake ..
 make 

Now you need to set the environmental variables:

 cd ~
 open -a TextEdit .bash_profile
 and copy the following lines:

export OpenCV_DIR=/Users/your_user_name/Dev/opencv-2.4.9/build

Download and setup IPOPT at the time of writing of this documentation the latest version tested was Ipopt-3.12.1

 cd $code
 wget http://www.coin-or.org/download/source/Ipopt/Ipopt-3.12.1.zip
 unzip Ipopt-3.12.1.zip

Create a build directory

cd $code
cd Ipopt-3.12.1
mkdir build

Now you need to set the environmental variables:

 cd ~
 open -a TextEdit .bash_profile

and copy the following lines:

 export IPOPT_DWN_DIR=/Users/your_user_name/Dev/Ipopt-3.12.1
 export IPOPT_DIR=/Users/your_user_name/Dev/Ipopt-3.12.1/build

To refresh and load these environment settings type:

source ~/.bash_profile 

open a new terminal and:

 cd $IPOPT_DWN_DIR/ThirdParty/Blas && ./get.Blas
 cd $IPOPT_DWN_DIR/ThirdParty/Lapack && ./get.Lapack
 cd $IPOPT_DWN_DIR/ThirdParty/Mumps && ./get.Mumps
 cd $IPOPT_DWN_DIR/ThirdParty/Metis && ./get.Metis
 cd $IPOPT_DWN_DIR/ThirdParty/ASL && ./get.ASL
 cd $IPOPT_DIR && $IPOPT_DWN_DIR/configure --prefix=/usr/local
 cd $IPOPT_DIR  
 make 
 make test

if the tests have passed then

 sudo make install

In the directory where you would like to store your code, e.g. /Users/your_user_name/Dev/ run the following to clone YARP on your system:

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

Check out the correct tag as described in Software Versioning Table:

 cd icub-main
 git checkout <tag> 

Compile iCub:

 mkdir build
 cd build
 ccmake ..

Enable the following flags

 ENABLE_icubmod_cartesiancontrollerclient
 ENABLE_icubmod_cartesiancontrollerserver
 ENABLE_icubmod_gazecontrollerclient

configure it correctly and

 make 

In order to generate and Xcode project do the following

 cd icub-main
 mkdir build
 cd build
 ccmake .. -G Xcode

Enable the following flags

 ENABLE_icubmod_cartesiancontrollerclient
 ENABLE_icubmod_cartesiancontrollerserver
 ENABLE_icubmod_gazecontrollerclient

This will generate a ICUB.xcodeproj file which can be opened with Xcode.

Build it by clicking Product -> Build or cmd+B shortcut

Now you need to set the environmental variables:

 cd ~
 open -a TextEdit .bash_profile

and copy the following lines:

 export ICUB_ROOT=/Users/your_user_name/Dev/icub-main
 export ICUB_DIR=/Users/your_user_name/Dev/icub-main/build
 export PATH=$ICUB_DIR/bin/Debug:$PATH

Notice that if you used the terminal version without Xcode the last line becomes:

 export PATH=$ICUB_DIR/bin:$PATH

To refresh and load these environment settings type:

source ~/.bash_profile 

You should now be ready to run any code from the iCub repository.