Installation details from scratch on a Linux based system

Installing from Scratch on Ubuntu/Debian

1. Install YARP and iCub

• Install YARP & iCub dependencies on Debian and Ubuntu:
  1. On Ubuntu, get the Adjective part of your release, e.g. for Ubuntu 14.04: sudo sh -c 'echo "deb http://www.icub.org/ubuntu trusty contrib/science" > /etc/apt/sources.list.d/icub.list' While for Debian Squeeze this would be: sudo sh -c 'echo "deb http://www.icub.org/debian squeeze contrib/science" > /etc/apt/sources.list.d/icub.list'
  2. sudo apt-get update
  3. sudo apt-get install icub-common
• Get the source code:
  1. Install git: sudo apt-get install git
  2. Switch to where you store your code or software, e.g. cd ~/software
  3. pull the YARP source code: git clone https://github.com/robotology/yarp.git
  4. cd back to ~/software.
  5. pull the iCub source code: git clone https://github.com/robotology/icub-main.git
• At this point if you type ls in ~/software you should get among other software you might have the directories: icub-main and yarp.
• Let us first configure yarp by going to its root directory: cd ~/software/yarp, creating a build directory mkdir build and using cmake/ccmake to configure and compile the project. To install ccmake (graphical interface of cmake) enter sudo apt-get install cmake-curses-gui. Once installed, to configure yarp for compilation, move to the build directory cd build, enter ccmake ../ and hit c to do a first configuration of the project. In the list of options that appear make sure the following options are ON (by hitting Enter): CREATE_GUIS, CREATE_LIB_MATH, CREATE_SHARED_LIBRARY, INSTALL_WITH_RPATH. Again hit c until no stars * appear and finally g to generate the cmake files for compilation.
• Finally compile YARP by issuing the command make (always in the build directory).
• Install YARP by doing sudo make install
• Proceed in the same way to compile iCub, by going to its root directory, creating a build directory and entering ccmake ../ with at least the option INSTALL_WITH_RPATH ON, and hitting c until no stars * show up, followed by g. Compile by typing make and install with sudo make install.

2. Install codyco-superbuild.

• Get the dependencies. Boost, Eigen and tinyxml are dependencies that are not included in icub-commons. To install them, type: sudo apt-get install libeigen3-dev libboost-system-dev libboost-thread-dev libtinyxml-dev
• Get the source code, making sure you're back in ~/Software and type `git clone https://github.com/robotology/codyco-superbuild.git'.
• If you haven't configure your github account. You should do it at this point with git config --global user.name FirstName LastName and git config --global user.email [email protected]
• cd codyco-superbuild && mkdir build && cd build && ccmake ../
• We will assume from this point onwards that you have installed MATLAB in its default directory. If you haven't, please
• After the previous line you get a screen with CMake options in which you should activate the flag CODYCO_USES_WBI_TOOLBOX and then proceed as explained before until reaching the compilation. Different from the installation of YARP and iCub, you won't need to install by doing sudo apt-get install.

3. You will find it useful to define the following environmental variables (for further installation instructions described in the README.md of this project) CODYCO_SUPERBUILD_DIR that points to the build directory of codyco-superbuild, YARP_DIR that points to the build directory of your YARP installation.