PrepareLinux

From Wiki for iCub and Friends
Jump to: navigation, search

These instructions explain how to set up your system to compile YARP and iCub. Here we assume you are using Debian Stable or Ubuntu Gutsy. It should not be different to setup other Linux, by just by installing similar packages.

Development environment

Install the following packages:

cmake (at least version 2.4)
g++

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.

Libraries

Install the package:

 libncurses5-dev

ACE

To compile YARP you need ACE.

In Linux you have two options:

  • Get precompiled versions of ace that are distributed with your Linux (please check here.
 If you follow this procedure, all you need to do is to install the libace-dev package.
  • Compile ace from sources, if you follow this procedure do not forget to set the environment variable ACE_ROOT to point to the directory where you have unpacked the sources. Compilation instructions are available here Installing ACE.
  • Which version of ace should I use? Follow this link to find out what is the most suitable version of ace depending on your system: Which version of ACE.

Environment variable you should have after this procedure: ACE_ROOT, only if you do not use the precompiled packages.

GUIS

GUIS are written using GTK/GTKMM and QT.

GTKMM:

 libgtkmm-2.4-dev
 libglademm-2.4-dev

QT:

 libqt3-mt-dev

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 Debian it is easy to install gsl through the package:

 libgsl0-dev

You can also download the library directly from http://www.gnu.org/software/gsl/.

Environment variable you should have after this procedure: nothing new.

OpenCV

Software in iCub makes extensive use of opencv. In Debian just install:

 libcv-dev
 libhighgui-dev
 libcvaux-dev

Environment variable you should have after this procedure: nothing new.

IPOPT

Inverse kinematics modules need the IPOPT library. This is not a requirement but it could be a useful feature. See instructions here:

Environment variable you should have after this procedure: IPOPT_DIR

Simulator related packages

The simulator will also need ode and sdl. See the simulator instructions on how to do it, Simulator libraries.