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


 Make sure that the following programs are installed:

  sudo apt-get install cmake libace-dev subversion cmake-curses-gui libgtk2.0-dev libgsl0-dev libreadline-dev g++ libncurses5-dev libgtkmm-2.4-dev libglademm-2.4-dev libcv-dev libhighgui-dev libcvaux-dev libode-dev
  
Optional: Install OpenCV from sources: 

Download OpenCV from here: [[http://opencv.willowgarage.com/wiki/ |OpenCV]] and install it by following
this steps:[[http://opencv.willowgarage.com/wiki/InstallGuide | OpenCV_Installation]]

===== 1) Get the yarp repositories. =====

Make sure that the yarp source that you will download is inside:

  cd /exports/code-64

NOTE: Please, first make sure that there is no folder named: yarp inside this directory, if so, 
move the folder away
  mv yarp yarp.cvs
  
and download the yarp sources:
  cd /exports/code-64
  svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2
  
Make sure to that the environment variables of yarp are set up correctly
    gedit /home/icub/.bashrc
    export YARP_ROOT=/usr/local/src/robot/yarp2
    
===== 2) Create YARP make files =====

  cd /exports/code-64/yarp2
  mkdir build
  cd build
  ccmake ../
    
Hit 'c' to configure. Choose the following options:

  CMAKE_BUILD_TYPE to "Release"
  CREATE_GUIS, set to ON
  CREATE_LIB_MATH, set to ON
  CREATE_YMANAGER, set to ON
  CREATE_GYARPMANAGER, set to ON
 
Hit 'c' again to configure and then hit 'g' to configure

===== 3) Compile YARP =====

  cd /exports/code-64/yarp2/build
  make
  
**IMPORTANT:**__** DO NOT**___ "sudo make install"