These instructions explain how to set up your Mac OS X system to compile YARP and iCub. Here we assume you are using Mac OS X 10.5 'Leopard'. It should not be too different to setup Mac OS X 10.4 'Panther' or versions newer than 10.5, just by installing similar packages.
CMake is available as a DMG installation image, while all the other libraries can be installed
- with the Fink package manager, or
- with the MacPorts package manager (formerly DarwinPorts), or
Install the following packages:
- CMake (at least version 2.4)
For CMake, there exists a precompiled installation package that you can get here: http://www.cmake.org/cmake/resources/software.html
Alternatively, you can get it via Fink (
sudo fink install cmake) or via MacPorts (
sudo port install cmake).
In case of installing via the DMG image:
In order to use cmake or ccmake via command line, you need to add the directory which contains the binaries to your PATH variable in the ~/.profile file, or export it each time manually. (In the author's case, this directory is /Applications/CMake\ 2.6-2.app/Contents/bin).
g++ can be installed either via Fink/MacPorts or by installing Xcode.
If you don't know what CMake is and you are wondering why you need to install CMake, please wait until Section 6.6 of the Manual. Of course you can jump there if you really can't wait.
Install the package:
To compile YARP you need ACE. The author is using ACE 5.6.3, it can be downloaded from the ace website. See also Installing ACE.
Environment variable you should have after this procedure: ACE_ROOT
GUIs are written using GTK/GTKMM and QT. Note that the author just installed everything that looked halfway relevant, so some of these packages might be redundant, but things definitively work with these packages.
Fink package names
gtkmm2.4-dev gtkmm2.4-gtk-dev gtkmm2.4-shlibs libglade2 libglade2-shlibs libglademm2.4 libglademm2.4-shlibs
qt3 qt3-bin qt3-shlibs qt3-designer qt3-designer-shlibs qt3-linguist
MacPorts package names
glib2-devel glibmm gtk2 gtkmm qt3
Environment variable you should have after this procedure: nothing new.
Gnu Scientific Library
YARP and some modules in iCub make use of the Gnu Scientific Library. In Mac OS X it is easy to install gsl through the fink packages:
You can also download the library directly from http://www.gnu.org/software/gsl/.
Environment variable you should have after this procedure': nothing new.
Software in iCub makes extensive use of opencv. The author installed the version 1.1.0.
You can download OpenCV here.
Set the environment variable OPENCV_ROOT in your ~/.profile file or export it manually to the location where you installed it (in my case /Users/frank/bin/opencv-1.1.0)
The author is not using modules that require IPOPT. Any suggestions are welcome.
The iCub Simulator will also need ODE and SDL. See the simulator instructions on how to do it here: Simulator libraries.