Difference between revisions of "Homebrew Mavericks"
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Here we provide information for installing the '''YARP''' dependencies via '''Homebrew''' and getting and compiling '''YARP''' from the repository. | Here we provide information for installing the '''YARP''' dependencies via '''Homebrew''' and getting and compiling '''YARP''' from the repository. | ||
Install YARP dependencies | Install YARP dependencies | ||
brew install | brew install yarp --only-dependencies | ||
and the following for yarpbuilder | and the following for yarpbuilder | ||
brew install goocanvas | brew install goocanvas |
Revision as of 11:10, 29 October 2015
The YARP section of the page is outdated.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 version of OS X, this is not stricly 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 "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
After the installation, you can run the following command to check if your setup is good :
brew doctor
If you had Homebrew already installed on your system, update and upgrade :
brew update brew upgrade
Before proceeding with the installation we recommend installing wget using curl (can also be done in Homebrew with the following command: brew install wget)
cd ~/Downloads curl -O http://ftp.gnu.org/gnu/wget/wget-1.15.tar.gz tar -zxvf wget-1.15.tar.gz cd wget-1.15/ ./configure
if you get a error configuring: error: --with-ssl was given, but GNUTLS is not available, use the following command.
./configure --with-ssl=openssl make sudo make install
Installing Yarp
Here we provide information for installing the YARP dependencies via Homebrew and getting and compiling YARP from the repository. Install YARP dependencies
brew install yarp --only-dependencies
and the following for yarpbuilder
brew install goocanvas
you can now follow this link and download Qt 5.3.2 Open Source. http://download.qt-project.org/official_releases/online_installers/qt-opensource-mac-x64-1.6.0-5-online.dmg or just follow this link and download it yourself http://qt-project.org/downloads Install the dmg package by default in your home and add its environmental variable:
cd ~ open -a TextEdit .bash_profile
If the following command result in an error: The file .... does not exist, do the following first:
cd ~ touch .bash_profile
now and copy the following lines:
export Qt5_DIR=/Users/your_user_name/Qt/5.3/clang_64
Now you would need to configure pkg-config Add this to the .bash_profile in order to correctly do this:
cd ~ open -a TextEdit .bash_profile
and copy the following line:
export PKG_CONFIG_PATH=/usr/X11/lib/pkgconfig/:$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"
To refresh and load these environment settings type:
source ~/.bash_profile
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 by enabling the following flags:
CREATE_GUIS CREATE_LIB_MATH
configure & generate then
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
To refresh and load these environment settings type:
source ~/.bash_profile
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
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 $IPOPT_DIR make make test
if the tests have passed then
sudo make install
In the directory where you would like to store your code, e.g. /Users/your_user_name/Dev/ run the following to clone YARP on your system
git clone https://github.com/robotology/icub-main.git
Compile iCub :
cd icub-main mkdir build cd build ccmake ..
Enable the following flags
ENABLE_icubmod_cartesiancontrollerclient ENABLE_icubmod_cartesiancontrollerserver ENABLE_icubmod_gazecontrollerclient
configure it correctly and
make
In order to generate and Xcode project do the following
cd icub-main mkdir build cd build ccmake .. -G Xcode
Enable the following flags
ENABLE_icubmod_cartesiancontrollerclient ENABLE_icubmod_cartesiancontrollerserver ENABLE_icubmod_gazecontrollerclient
This will generate a ICUB.xcodeproj file which can be opened with Xcode.
Build it by clicking Product -> Build or cmd+B shortcut
Now you need to set the environmental variables:
cd ~ open -a TextEdit .bash_profile
and copy the following lines:
export ICUB_ROOT=/Users/your_user_name/Dev/icub-main export ICUB_DIR=/Users/your_user_name/Dev/icub-main/build export PATH=$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.