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: OpenCV_Installation
Install IPOPT: Please follow this instructions
Install sdl and opengl:
sudo apt-get install libsdl1.2-dev freeglut3-dev
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
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