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--- icub:icub_pc104 [2012/11/12 18:39] – [2) Get iCub makefiles] ramirezk
+++ icub:icub_pc104 [2012/11/13 14:41] (current) – [3) Compile iCub] ramirezk
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+====== ICUB installation on PC104 ======
+Please follow the below steps carefully.
+===== 1) Getting the iCub repositories: =====
+Open a shell on the laptop (icubsrv)
+  cd /exports/code-pc104
+And make sure the is not a folder named iCub, if there is, please move away the folder:
+  mv iCub iCub.cvs
+Get the yarp source code from the repositories
+  cd /exports/code-pc104
+  svn co https://robotcub.svn.sourceforge.net/svnroot/robotcub/trunk/iCub
+**IMPORTANT:** At this point you __**do not**__ have to complie
+__**Note:**__ 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
+===== 2) Get iCub makefiles =====
+Create the $ICUB_DIR directory that should point to /usr/local/src/robot/iCub/main/build
+  mkdir $ICUB_DIR
+  cd $ICUB_DIR
+If you are upgrading the iCub repository, clean the cahe before generating the makefiles:
+  rm CMakeCache.txt
+Generate the makefiles
+  ccmake ../
+Hit 'c' to configure and enable the following flags:
+  CMAKE_BUILD_TYPE, set to, Release
+Hit 'c' to configure. And a long list of devices (in the form of ENABLE_icubmod_*) will appear.
+You need to enabled the following:
+  ENABLE_icubmod_canmotioncontrol
+  ENABLE_icubmod_dragonfly2
+  ENABLE_icubmod_logpolarclient
+  ENABLE_icubmod_logpolargrabber
+  ENABLE_icubmod_xsensmtx
+  ENABLE_icubmod_icubarmcalibrator
+  ENABLE_icubmod_icubheadcalibrator
+  ENABLE_icubmod_icublegscalibrator
+  ENABLE_icubmod_icubarmcalibratorj8
+  ENABLE_icubmod_icubhandcalibrator
+Hit 'c' to configure, and enable the following:
+  ENABLE_icubmod_cartesiancontrollerclient
+  ENABLE_icubmod_cartesiancontrollerserver
+For our previous iCub, Version iCub 1.0 (before 12/Nov/2012), we needed to enable the following
+  ENABLE_icubmod_pcan: iCub 1.0
+For the new iCub, version ??? if iCub>iCub 1.1.1
+  ENABLE_icubmod_cfw2can
+  ENABLE_icubmod_skinprototype
+and if iCub >  iCub 1.x.2 enable (very unlikely, since the neck is not getting upgrade, please verify)
+  ENABLE_icubmod_icubheadcalibratorV2
+Hit 'c' to configure
+===== 3) Compile iCub =====
+  cd $ICUB_DIR
+  make
+  make install_applications
+__**DO NOT**__ run "sudo make install", the current instructions assume that the binaries are not installed in system directories.
+It may be a good idea to update the firmware, please check this page: [[http://eris.liralab.it/wiki/Firmware| Firmware upgrade]]
+===== Verify the iCub installation =====
+To verify the procedure type:
+  icubmoddev --list
+among the others the list should contains also the new devices:
+ Device "dragonfly2", C++ class DragonflyDeviceDriver2, wrapped by "grabber"
+ Device "pcan", C++ class PlxCan, has no network wrapper
+ ...
+===== Possible Errors during compilation or generation of makefiles: =====
+**CMake Possible errors:**
+pcan/ecan fails to detect API(s): check that you have unpacked plxCanApi/esdCanApi
+in /usr/local/src/robot/drivers. cmake uses the environment variables
+PLXCANAPI_DIR/ESDCANAPI_DIR to locate these libraries. If you the pc104 has a Debian
+Live image >= 1.4 these should be already set, otherwise you have to do it manually.
+Add the following to your bashrc file in /home/icub
+  cd
+  gedit .bashrc
+and add the following variables:
+  ESDCANAPI_DIR=/usr/local/src/robot/drivers/esdCanApi
+  PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi
+  CWF2CANAPI_DIR=/usr/local/src/robot/drivers/cfw002