====== Installing iCub on a PC ======

1) Make sure that the following packages are installed:

  sudo apt-get install libace-dev libgtkmm-2.4-dev libglademm-2.4-dev libqt3-mt-dev libgsl0-dev qt4-qmake libqt4-dev
  
Ensure that OpenCV is installed. If you need to install it: [[http://toychest.in.tum.de/wiki/icub:yarp_install_opencv | OpenCV_Installation]]
    
Install IPOPT:[[icub:icub_install_ipopt| Please follow this instructions]]
 
Install  sdl and opengl:
  sudo apt-get install libsdl1.2-dev freeglut3-dev
  
Install ODE: [[icub:icub_install_ode|Linux: Install ODE]]
    

2) Download the complete iCub repository (takes a long time):

  mkdir -p ~/local/src/iCub
  cd ~/local/src
  svn co https://robotcub.svn.sourceforge.net/svnroot/robotcub/trunk/iCub iCub
  
Or download only the main sources:
  
  mkdir -p ~/local/src/iCub
  cd ~/local/src/iCub
  svn co https://robotcub.svn.sourceforge.net/svnroot/robotcub/trunk/iCub/main main 
  svn co https://robotcub.svn.sourceforge.net/svnroot/robotcub/trunk/iCub/contrib contrib
  
3) Configure iCub
  cd $ICUB_ROOT/main
  mkdir build && cd  build
  ccmake -D CMAKE_BUILD_TYPE=Release -D ENABLE_icubmod_cartesiancontrollerclient=ON -D ENABLE_icubmod_cartesiancontrollerserver=ON -D ENABLE_icubmod_debugInterfaceClient=ON -D ENABLE_icubmod_gazecontrollerclient=ON -D ICUB_INSTALL_APPLICATIONS=ON -D USE_ODE_DOUBLE=ON ..
   
Hit 'c' to configure the project and check that the following options are set correctly:
  CMAKE_BUILD_TYPE to "Release"
  ENABLE_icubmod_cartesiancontrollerclient ON
  ENABLE_icubmod_cartesiancontrollerserver ON
  ENABLE_icubmod_debug_InterfaceClient     ON
  ENABLE_icubmod_gazecontrollerclient      ON
  ICUB_INSTALL_APPLICATIONS                ON
  USE_ODE_DOUBLE                           ON

Hit 'c' till generate option pops up and then hit 'g' to generate.

4) Compile iCub
  make
  sudo make install
  make install_applications
  
==== ERRORS during iCub installation: ====

1) From Ubuntu 12.10 on qt3 has been removed from the repositories. To still install this package open
  sudo gedit /etc/apt/sources.list
and add the line
  deb http://de.archive.ubuntu.com/ubuntu/ precise main
After updating the catalogue you will be able to install libqt3-mt-dev and its dependencies.
  sudo apt-get update && sudo apt-get install libqt3-mt-dev
  
2) If you have the following error, while testing the iCub_SIM: 
  iCub_SIM: error while loading shared libraries: libode.so.3: cannot open shared object file: No such file or directory
  
This error will be fixed with:
  sudo ldconfig