====== ICUB installation on PC104 ======

Please follow the below steps carefully.

===== 1) Getting the iCub repositories: =====

Open a shell on the laptop (icubsrv)
  cd /exports/code-pc104
  
And make sure the is not a folder named iCub, if there is, please move away the folder:
  mv iCub iCub.cvs
  
Get the yarp source code from the repositories
  cd /exports/code-pc104
  svn co https://robotcub.svn.sourceforge.net/svnroot/robotcub/trunk/iCub
  
**IMPORTANT:** At this point you __**do not**__ have to complie

__**Note:**__ double check that the environment variable ICUB_ROBOTNAME 
exists and matches the name of our robot (e.g. iCubMunich01). If not add the following line
in /home/icub/.bashcrc
  
  export ICUB_ROBOTNAME=iCubMunich01
  
  
===== 2) Get iCub makefiles =====
Create the $ICUB_DIR directory that should point to /usr/local/src/robot/iCub/main/build
  mkdir $ICUB_DIR
  cd $ICUB_DIR
  
If you are upgrading the iCub repository, clean the cahe before generating the makefiles:
  rm CMakeCache.txt  
  
Generate the makefiles
  ccmake ../
  
Hit 'c' to configure and enable the following flags:
  CMAKE_BUILD_TYPE, set to, Release 
  
Hit 'c' to configure. And a long list of devices (in the form of ENABLE_icubmod_*) will appear.
You need to enabled the following:
  ENABLE_icubmod_canmotioncontrol
  ENABLE_icubmod_dragonfly2
  ENABLE_icubmod_logpolarclient
  ENABLE_icubmod_logpolargrabber
  ENABLE_icubmod_xsensmtx
  ENABLE_icubmod_icubarmcalibrator
  ENABLE_icubmod_icubheadcalibrator
  ENABLE_icubmod_icublegscalibrator
  ENABLE_icubmod_icubarmcalibratorj8
  ENABLE_icubmod_icubhandcalibrator
  
Hit 'c' to configure, and enable the following:
  ENABLE_icubmod_cartesiancontrollerclient
  ENABLE_icubmod_cartesiancontrollerserver
  
For our previous iCub, Version iCub 1.0 (before 12/Nov/2012), we needed to enable the following
  ENABLE_icubmod_pcan: iCub 1.0 

For the new iCub, version ??? if iCub>iCub 1.1.1
  ENABLE_icubmod_cfw2can
  ENABLE_icubmod_skinprototype
and if iCub >  iCub 1.x.2 enable (very unlikely, since the neck is not getting upgrade, please verify)
  ENABLE_icubmod_icubheadcalibratorV2

Hit 'c' to configure

===== 3) Compile iCub =====

  cd $ICUB_DIR
  make
  make install_applications
  
__**DO NOT**__ run "sudo make install", the current instructions assume that the binaries are not installed in system directories.

It may be a good idea to update the firmware, please check this page: [[http://eris.liralab.it/wiki/Firmware| Firmware upgrade]]
===== Verify the iCub installation =====

To verify the procedure type:

  icubmoddev --list
among the others the list should contains also the new devices:

 Device "dragonfly2", C++ class DragonflyDeviceDriver2, wrapped by "grabber"
 Device "pcan", C++ class PlxCan, has no network wrapper
 ...
===== Possible Errors during compilation or generation of makefiles: =====

**CMake Possible errors:**

pcan/ecan fails to detect API(s): check that you have unpacked plxCanApi/esdCanApi 
in /usr/local/src/robot/drivers. cmake uses the environment variables 
PLXCANAPI_DIR/ESDCANAPI_DIR to locate these libraries. If you the pc104 has a Debian 
Live image >= 1.4 these should be already set, otherwise you have to do it manually.
Add the following to your bashrc file in /home/icub
  cd
  gedit .bashrc 
and add the following variables:   
  ESDCANAPI_DIR=/usr/local/src/robot/drivers/esdCanApi
  PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi
  CWF2CANAPI_DIR=/usr/local/src/robot/drivers/cfw002