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

Make sure that the following packages are installed:

Install ace, gtkmm and qt3:

sudo apt-get install libace-dev libgtkmm-2.4-dev libglademm-2.4-dev libqt3-mt-dev

Install gsl and opencv:

  sudo apt-get install libgsl0-dev libcv-dev libhighgui-dev libcvaux-dev
  

Install IPOPT: Please follow this instructions

Install sdl and opengl:

sudo apt-get install libsdl1.2-dev libglut3 libglut3-dev

Install ODE: Linux: Install ODE

Make sure that you donwload the iCub source code inside:

cd /exports/code-64

NOTE: Please, first make sure that there is no folder named: iCub inside this directory, if so, move the folder away

mv iCub iCub.cvs

and download the iCub sources:

cd /exports/code-64
svn co https://robotcub.svn.sourceforge.net/svnroot/robotcub/trunk/iCub

Make sure to that the environment variables of iCub are set up correctly

  gedit /home/icub/.bashrc
  export ICUB_ROOT=/usr/local/src/robot/icub
  

cd /exports/code-64/iCub/main
mkdir build
cd build
ccmake ../

Hit 'c' to configure the project and select the following options:

CMAKE_BUILD_TYPE to "Release"
ENABLE_icubmod_cartesiancontrollerclient ON
ENABLE_icubmod_cartesiancontrollerserver ON
ENABLE_icubmod_gazecontrollerclient      ON
ENABLE_icubmod_debug_InterfaceClient     ON
ICUB_INSTALL_APPLICATIONS                ON
USE_ODE_DOUBLE                           ON

cd /exports/ code-64/iCub/main/build
make
make install_applications

IMPORTANT: DO NOT “sudo make install”