Linux:Installation from sources
Getting all dependencies
Add www.icub.org to your sources.list. Below, replace ubuntu with debian, depending on your system.
sudo sh -c 'echo "deb http://www.icub.org/ubuntu `lsb_release -cs` contrib/science" > /etc/apt/sources.list.d/icub.list' sudo apt update
NOTE : if apt complains about missing public key, please import the repository public key (this must be done only once) as follows
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 57A5ACB6110576A6
Install only the package icub-common:
sudo apt install icub-common
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. The git client was already installed with the icub-common package.
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.
Compile YCM (optional)
Although YCM is already contained in icub-common, you might want to get the latest release. To do so, clone and build the tag associated with the distro at hand as specified in Software Versioning Table.
git clone https://github.com/robotology/ycm.git -b vxx.yy.zz cd ycm && mkdir -p build && cd build ccmake ../ sudo make install
Follow instructions here: http://www.yarp.it/install_yarp_linux.html, follow the section Install from sources -- Compiling YARP (skip installation of packages).
Importantly, for use with the iCub robot when compiling YARP make sure that:
- you check out the correct tag of YARP according to the Software Versioning Table.
- you select the following CMake options:
CREATE_OPTIONAL_CARRIERS, set to ON ENABLE_yarpcar_bayer, set to ON
Download iCub source code
In the rest of the tutorial, it will be assumed that you will downloaded the code in the /home/user.
To download the icub-main source code, just use git:
cd /home/user git clone https://github.com/robotology/icub-main.git
This command will create the /home/user/icub-main directory, containing the icub-main source code.
Checkout the correct tag
Pick up the correct tag vxx.yy.zz from Software Versioning Table that is compatible with the compiled version of YARP and do:
cd icub-main git checkout vxx.yy.zz
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
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)
First, you need to download the sources.
cd /home/user/ git clone https://github.com/robotology/icub-contrib-common.git
Second, make sure you have the correct release according to Software Versioning Table.
cd /home/user/icub-contrib-common/ git checkout <tag>
Set up the ICUBcontrib meta-package, which allows to properly configure your modules/libraries so that they share the same installation prefix.
cd /home/user/icub-contrib-common/ mkdir build && cd build ccmake ../
At this stage you must change CMAKE_INSTALL_PREFIX entry here to the path of your liking, preferably in your home; hit 'g' to generate the project. If you do not change the CMAKE_INSTALL_PREFIX you will need to constantly use sudo for any subsequent action, eg: run module with administrative rights.
Once you have installed the ICUBcontrib package you can compile the other modules individually.
Configure your environment
If you installed YARP and/or iCub or ICUBcontrib to non-default directories, you need to set your environment.
- Set the ICUBcontrib_DIR env var to point to the installation directory.
- Append $ICUBcontrib_DIR/bin to your PATH.
- Set the CMAKE_PREFIX_PATH env var to point to the installation directory $ICUBcontrib_DIR.
- Modify the variable YARP_DATA_DIRS accordingly, i.e.:
Check your installation
Now you are ready to check your installation.