Linux:Installation from sources
These instructions only apply to YARP > 2.3.23 and iCub > 1.1.13 software versions
See Linux:Installation from sources old for older instructions
The page contains instructions for compiling YARP and the iCub software. We recommend you get the required dependencies from the binary packages.
Getting all dependencies
Most of the dependencies are already available in the Linux distributions, in some cases (e.g. ipopt or ode in some distributions) we provide our own packages. Follow the steps on this page to configure the sources.list.
Install only the package icub-common:
sudo apt-get install icub-common
sudo apt-get install cmake cmake-curses-gui
the second package installs the curses based interface (ccmake).
If you want to install all packages yourself, this is the list of packages you have to install (Linux: dependencies).
Setting up revision control systems
To download sources from our repositories you need to set up a revision control system client (subversion and/or git).
YARP can be obtained using git or subversion.
The iCub software can be obtained using subversion.
sudo apt-get install git
Learning git: to get sources you don't need to understand git in detail (just follow our instructions). However you can follow this link if you are willing to learn more Learning more about git.
sudo apt-get install subversion
If you are not familiar with svn we suggest at least you learn the basics. Some instructions are available from the sourceforge website:
A lot of more details (including a quick introduction) can be found instead here:
Important: if you are a developer and are planning to commit to the repository don't forget to configure svn. Follow this link: Subversion_client_flags.
Getting the YARP and iCub sources
Get the YARP sources. Pick a directory where you would like to install the sources, e.g. /home/user
svn co https://github.com/robotology/yarp/trunk yarp
or (preferred) using GIT, cloning the repository from one of these addresses:
- (git read-only) git://github.com/robotology/yarp.git
- (ssh read+write) firstname.lastname@example.org:robotology/yarp.git
- (https read+write) https://github.com/robotology/yarp.git
cd /home/user sudo apt-get install git git clone https://github.com/robotology/yarp.git
This will create a directory called yarp with all the sources.
- Set the YARP_ROOT environment variable in your .bashrc to point to /home/user/yarp.
Get the iCub sources
You can download the whole repository from svn. In the same directory /home/user (or elsewhere):
This will create a directory iCub with all the sources.
Notice that this may take some time. Alternatively you can download individual modules (i.e. main and contrib or firmware)
cd /home/user mkdir iCub
svn co https://svn.code.sf.net/p/robotcub/code/trunk/iCub/main iCub/main svn co https://svn.code.sf.net/p/robotcub/code/trunk/iCub/contrib iCub/contrib
This will create only the directories iCub/main and iCub/contrib with all the sources.
Create YARP makefiles
Pick up a build directory. E.g. $YARP_ROOT/build and run CMake.
mkdir $YARP_ROOT/build cd $YARP_ROOT/build ccmake $YARP_ROOT
(ccmake is an interactive version of cmake)
Hit 'c' to configure. Choose the following options:
CMAKE_BUILD_TYPE to "Release" CREATE_GUIS, set to ON CREATE_LIB_MATH, set to ON
CREATE_OPTIONAL_CARRIERS, set to ON ENABLE_yarpcar_bayer_carrier, set to ON
(leave default values as they are unless you know better)
Makefiles generation is an iterative process, hit "c" until the option "Generate" becomes available. Then hit "g" and quit.
Note 1: You can optionally change CMAKE_INSTALL_PREFIX, this is the directory where you would like to install YARP (default is /usr/local). If you do so, you will then need to set up the environment accordingly (see Configure your environment below).
Note 2: CREATE_GUIS and CREATE_LIB_MATH require you have installed the libraries gtk and gsl (you have, if you have followed the instructions above).
Note 3: Do not select other options unless you know what you are doing.
Note 4: Depending on the hardware on your system you might want to compile additional device drivers. This is done for example on the pc104. Instruction for doing this are reported elsewhere.
If you have completed the previous step you have makefiles ready in your build directory.
cd $YARP_ROOT/build make
sudo make install
In the following we will call ICUB_REPOSITORY the top directory of the repository (i.e. the iCub containing the files AUTHORS, README and ChangeLog).
Create iCub makefiles
Pick a build directory to store makefiles and binaries, e.g. /home/user/iCub/main/build
Run CMake to generate makefiles:
cd /home/user/iCub/main mkdir build cd build ccmake ../
Hit 'c' to configure the project.
CMAKE_BUILD_TYPE to "Release" ENABLE_icubmod_cartesiancontrollerclient ON ENABLE_icubmod_cartesiancontrollerserver ON ENABLE_icubmod_gazecontrollerclient ON ENABLE_icubmod_debug_InterfaceClient ON
Leave all other options to default (unless you know what you are doing).
Note 1: You can optionally change CMAKE_INSTALL_PREFIX, this is the directory where you would like to install iCub (default is /usr/local). If you set it to a different prefix than YARP's, you will then need to set up the environment accordingly (see Configure your environment below).
cd /home/user/iCub/main/build make sudo make install
Setup ICUBcontrib (optional)
If you wish to develop new software for iCub and share it with the community in the ICUB_REPOSITORY/contrib/src , you need to set up the ICUBcontrib meta-package, which allows to properly configure your modules/libraries so that they share the same installation prefix.
cd ICUB_REPOSITORY/contrib/src/ICUBcontrib mkdir build && cd build ccmake ../
You can change the CMAKE_INSTALL_PREFIX entry here; hit 'g' to generate the project.
sudo make install
Configure your environment
If you installed YARP and/or iCub or ICUBcontrib to non-default directories, you need to set the environment variable YARP_DATA_DIRS accordingly, i.e.:
Check your installation
Now you are ready to check your installation.