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PrepareMacOSX

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Snow Leopard and newer

People now have most success with YARP/iCub using the homebrew package manager. See Homebrew for installation instructions.

Leopard and older

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 set up 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
  • manually.

Development environment

Install the following packages:

  • CMake (at least version 2.4)
  • g++

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.

Libraries

If you are using Fink, install the package

 libncurses5-dev

If you are using MacPorts, install

 ncurses
 ncursesw

ACE

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. Note by gsaponaro: ACE 5.7.0 also works fine.

Environment variable you should have after this procedure: ACE_ROOT

GUIs

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

GTKMM:

 gtkmm2.4-dev
 gtkmm2.4-gtk-dev
 gtkmm2.4-shlibs
 libglade2
 libglade2-shlibs
 libglademm2.4
 libglademm2.4-shlibs

QT:

 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 (GSL). If you are using Fink, install packages

 gsl
 gsl-shlibs

If you are using MacPorts, install

 gsl

Alternatively, you can 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. 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)

IPOPT

The author is not using modules that require IPOPT. Any suggestions are welcome.

Simulator-related packages

The iCub Simulator will also need ODE and SDL. See the simulator instructions on how to do it here: Simulator libraries.

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