This library is needed for the iCub simulator. It is recommended not to use the Debian/Ubuntu packages as large amount of numerical problems will appear.
The simulator supports single and double precision. Double precision is recommended and important if planning to import 3D models into the simulator.
Get the sources from here: http://www.ode.org/download.html
Extract the archive:
tar -C ~/local/src/ -xvf ~/Downloads/ode-0.12.tar.bz2
Generate and make:
cd ~/local/src/ode-0.12 mkdir build_user && cd build_user # optional parameters: --enable-shared --disable-drawstuff --disable-demos ../configure --enable-double-precision make sudo make install
Add the ODE path to the end of your bashrc (change path if you did a local installation!):
gedit ~/.bashrc export ODE_DIR=/usr/local