====== YARP installation on PC104 ======

Please follow the below steps carefully.
===== 1) Getting the yarp repositories: =====

Open a shell on the laptop (icubsrv)
  cd /exports/code-pc104
  
And make sure the is not a folder named yarp2, if there is, please move away the folder:
  mv yarp2 yarp2.cvs
  
Get the yarp source code from the repositories
  cd /exports/code-pc104
  svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2
  
**IMPORTANT:** At this point you __**do not**__ have to complie

===== 2) Get new startup scripts =====


Open a shell on the laptop. Get scripts from the local repository:

  cp $ICUB_ROOT/pc104/startupscripts/opencall/hooks/* /exports/code-pc104/pc104/hooks -r
  
===== 3) Compile the yarp code on the pc104 =====

On the laptop, open a shell to connect to the pc104
  ssh pc104
    
Now please verify that the following environment variables are present:

  YARP_ROOT
  YARP_DIR

  ICUB_ROOT
  ICUB_DIR

You will notice that the variables point to the new repositories. 
__**Important:**__ 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
  
and boot pc104, so that the new changes are loaded.   

===== 4) Create YARP makefiles =====

Make sure you are in pc104. Therefore, from the laptop (icubsrv) do:
  ssh pc104
  
Create the $YARP_DIR directory (/usr/local/src/robot/yarp2/build)
  mkdir $YARP_DIR
  cd $YARP_DIR
  
Clean the cache (This has to be done only when we upgrade the repository):
  rm CMakeCache.txt

and generate makefiles   
  ccmake ../
  
Hit 'c' to configure and enable the following flags:
  CMAKE_BUILD_TYPE: Release
  CREATE_LIB_MATH, set to ON
  CREATE_DEVICE_LIBRARY_MODULES:ON
 
Configure (hit 'c') 
Now enable:
  ENABLE_yarpmod_serial
  ENABLE_yarpmod_serialport
  ENABLE_yarpmod_portaudio
  
Hit 'c' again and generate files, hit 'g'

===== 5) Compile YARP =====

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

===== 6) Verify the installation: =====


To verify the procedure type:

  yarpdev --list

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

  Device "serial", C++ class ServerInertial, is a network wrapper,
  Device "serialport", C++ class SerialDeviceDriver, wrapped by "serial"
  Device "portaudio", C++ class ...