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--- icub:yarp_pc104 [2012/11/12 18:24] – ramirezk
+++ icub:yarp_pc104 [2012/11/12 18:25] (current) – [YARP installation on PC104] ramirezk
@@ Line 1: / Line 1: @@
+====== 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 ...