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--- icub:icub_pc [2012/11/28 15:11] – jansohn
+++ icub:icub_pc [2013/01/08 13:26] (current) – ramirezk
@@ Line 1: / Line 1: @@
+====== Installing iCub on a PC ======
+) 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: [[http://toychest.in.tum.de/wiki/icub:yarp_install_opencv | OpenCV_Installation]]
+Install IPOPT:[[icub:icub_install_ipopt| Please follow this instructions]]
+Install  sdl and opengl:
+  sudo apt-get install libsdl1.2-dev freeglut3-dev
+Install ODE: [[icub:icub_install_ode|Linux: Install ODE]]
+) 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
+) 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.
+) Compile iCub
+  make
+  sudo make install
+  make install_applications
+==== ERRORS during iCub installation: ====
+) 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
+) 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