Table of Contents
YARP installation on PC104
Please follow the below steps carefully.
1) Getting the yarp repositories:
Open a shell on the laptop (icubsrv)
cd /exports/code-pc104
And make sure the is not a folder named yarp2, if there is, please move away the folder:
mv yarp2 yarp2.cvs
Get the yarp source code from the repositories
cd /exports/code-pc104 svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2
IMPORTANT: At this point you do not have to complie
2) Get new startup scripts
Open a shell on the laptop. Get scripts from the local repository:
cp $ICUB_ROOT/pc104/startupscripts/opencall/hooks/* /exports/code-pc104/pc104/hooks -r
3) Compile the yarp code on the pc104
On the laptop, open a shell to connect to the pc104
ssh pc104
Now please verify that the following environment variables are present:
YARP_ROOT YARP_DIR
ICUB_ROOT ICUB_DIR
You will notice that the variables point to the new repositories. Important: 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
and boot pc104, so that the new changes are loaded.
4) Create YARP makefiles
Make sure you are in pc104. Therefore, from the laptop (icubsrv) do:
ssh pc104
Create the $YARP_DIR directory (/usr/local/src/robot/yarp2/build)
mkdir $YARP_DIR cd $YARP_DIR
Clean the cache (This has to be done only when we upgrade the repository):
rm CMakeCache.txt
and generate makefiles
ccmake ../
Hit 'c' to configure and enable the following flags:
CMAKE_BUILD_TYPE: Release CREATE_LIB_MATH, set to ON CREATE_DEVICE_LIBRARY_MODULES:ON
Configure (hit 'c') Now enable:
ENABLE_yarpmod_serial ENABLE_yarpmod_serialport ENABLE_yarpmod_portaudio
Hit 'c' again and generate files, hit 'g'
5) Compile YARP
cd $YARP_DIR make
DO NOT “sudo make install”, the current instructions assume that the binaries are not installed in system directories.
6) Verify the installation:
To verify the procedure type:
yarpdev --list
among the others the list should contains also the new devices:
Device "serial", C++ class ServerInertial, is a network wrapper, Device "serialport", C++ class SerialDeviceDriver, wrapped by "serial" Device "portaudio", C++ class ...
