Install iCub software from source manually installing each software package
The page contains instructions for compiling YARP and the iCub software. We recommend you get the required dependencies from the binary packages.
Getting all dependencies
Add www.icub.eu
to your sources.list.
Below, replace ubuntu
with debian
, depending on your system.
sudo sh -c 'echo "deb http://www.icub.eu/ubuntu `lsb_release -cs` contrib/science" > /etc/apt/sources.list.d/icub.list'
sudo apt update
Missing public key
if apt complains about missing public key, please import the repository public key (this needs to 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
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.
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
Compile YARP
Follow instructions provided in the official YARP documentatipn, 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 set to on the CMake options CREATE_OPTIONAL_CARRIERS
and ENABLE_yarpcar_bayer
.
Compile icub-main
Download icub-main 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.
Select options:
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 : You can optionally change CMAKE_INSTALL_PREFIX
, this is the
directory where you would like to install icub-main (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 section below).
Compile icub-main
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>
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.
Finally,
make install
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.:YARP_DATA_DIRS=
/share/yarp:
/share/iCub:
/share/ICUBcontrib
.
Check your installation
After you followed the installation instructions, you can check if your installation was successful by following the instructions in the Check your installation page.