====== iCub installation on the icubsrv (Laptop that comes with the iCub) ======

Make sure that the following packages are installed:

Install ace, gtkmm and qt3:
  sudo apt-get install libace-dev libgtkmm-2.4-dev libglademm-2.4-dev libqt3-mt-dev
  
Install gsl and opencv:
    sudo apt-get install libgsl0-dev libcv-dev libhighgui-dev libcvaux-dev
    
Install IPOPT:[[icub:icub_install_ipopt| Please follow this instructions]]
 
Install  sdl and opengl:
  sudo apt-get install libsdl1.2-dev libglut3 libglut3-dev
  
Install ODE: [[icub:icub_install_ode|Linux: Install ODE]]
===== 1) Get the iCub repositories. =====
 
Make sure that you donwload the iCub source code inside:

  cd /exports/code-64

NOTE: Please, first make sure that there is no folder named: iCub inside this directory, if so, 
move the folder away
  mv iCub iCub.cvs
  
and download the iCub sources:
  cd /exports/code-64
  svn co https://robotcub.svn.sourceforge.net/svnroot/robotcub/trunk/iCub
  
Make sure to that the environment variables of iCub are set up correctly
    gedit /home/icub/.bashrc
    export ICUB_ROOT=/usr/local/src/robot/icub
    
===== 2) Create iCub makefiles =====

  cd /exports/code-64/iCub/main
  mkdir build
  cd build
  ccmake ../
  
Hit 'c' to configure the project and select the following options:
  CMAKE_BUILD_TYPE to "Release"
  ENABLE_icubmod_cartesiancontrollerclient ON
  ENABLE_icubmod_cartesiancontrollerserver ON
  ENABLE_icubmod_gazecontrollerclient      ON
  ENABLE_icubmod_debug_InterfaceClient     ON
  ICUB_INSTALL_APPLICATIONS                ON
  USE_ODE_DOUBLE                           ON
  
===== 3) Compile iCub =====

  cd /exports/ code-64/iCub/main/build
  make
  make install_applications
  
**IMPORTANT: __DO NOT__** "sudo make install"