UPMC iCub project/Short guide to installation

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This short guide will help you in the installation of YARP and ICUB in your own machine: its content is basically a more "verbose" description of the steps you can find in the iCub Manual. Here you will find the shortcuts to the main steps, with some simple notes. To run the iCub simulator and start developing in YARP for the robot, you need to install first YARP then the iCub software, following the installation guide here. For doing this, you need to "prepare" your machine, and depending on the operative system you're using (linux or windows) it will take a while.

The basic steps to get "yarped" and "icubbed"

  • Install libraries. There is a list of libraries to install (GTK,GSL,ACE,IPOPT,OPENCV,SDL,QT and so on); which are required to compile Yarp and the iCub software. There are precompiled packages which are recommended if you're on Windows; whereas on Linux just follow the instructions to get the lib packages.

It is usually recommended to put all the code you need in a single folder, like C:\ to have: C:\yarp, C:\icub, C:\ace ... and so on. This will facilitate browsing and updating code if it's the first time you use the iCub.

  • Environment variables. Remember to create the environmental variables for every library you install, because they are necessary to compile everything. Once you've installed all the libraries (GTK,GSL,ACE,IPOPT,OPENCV,SDL,QT and so on), you can finally get and compile yarp and iCub software.
  • Svn client. First, you need a subversion client to download the packages: see here.
  • Get Yarp and iCub with svn. Use the instructions on the manual to get the yarp and iCub code. For example, for yarp you must go into the yarp folder (e.g. C:\yarp ), link the folder to the svn repository, and update to get the code:
  • CMake. Once you're done with the download, you need CMake to create the software projects (to support cross-platform compilation) and compile both projects in your machine: see here.
  • Compile yarp. Go into the YARP folder first, and compile Yarp: first, run CMake to create the project, then compile. There's a detailed tutorial on YARP, with more information here.
  • Check yarp. After the compile and installation procedure, you may want to check if it is installed correctly.

Basically, once you've compiled yarp in your system, just open a terminal shell or a command window, and type "yarp" if it is installed correctly it should start saying "This is the YARP network companion". Then type "yarp help" to see the available list of commands.

  • Compile icub. If you're "yarped", you can go on compiling iCub. Go into the iCub folder (e.g. C:\icub ), run CMake, compile.

Once you're done, you can start playing with the iCub simulator to see if everything is fine. More details about the simulator can be found here.

  • Launch simulator. Steps are:
    • open a terminal and launch the yarp server, type "yarp server"
    • open a terminal and launch the iCub simulator, type "iCub_SIM"
    • open a terminal and type "yarp name list" to see all the ports opened by yarp. If the simulator is running, some ports related to the iCub and its state must exist
    • you can now start playing with the simulator.

I want to know more...

For more details please refer to the complete iCub Manual.

I want to use the robot...

If you want to use the robot, read the manual first, and particularly:

Then refer to this page for specific details for the configuration of the iCub network in ISIR Lab.