Linux: Install ODE

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