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--- icub:yarp_pc [2012/11/15 13:45] – jansohn
+++ icub:yarp_pc [2013/04/25 18:58] (current) – jansohn
@@ Line 1: / Line 1: @@
+====== Installing YARP on a PC======
+) Make sure that the following programs are installed:
+  sudo apt-get install cmake libace-dev subversion cmake-curses-gui libgtk2.0-dev libgsl0-dev libreadline-dev g++ libncurses5-dev libgtkmm-2.4-dev libglademm-2.4-dev
+Recommended: Install OpenCV from sources: [[http://toychest.in.tum.de/wiki/icub:yarp_install_opencv | OpenCV_Installation]]
+Alternative (**NOT** recommended): Install precompiled OpenCV packages:
+  sudo apt-get install libcv-dev libcvaux-dev libopencv-dev
+) Then we obtain YARP from the repositories:
+  cd ~/local/src
+  svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2 yarp2
+) Configuring YARP:
+  cd yarp2
+  mkdir build && cd build
+  ccmake -DCMAKE_BUILD_TYPE=Release -DCREATE_SHARED_LIBRARY=ON -DCREATE_DEVICE_LIBRARY_MODULES=ON -DCREATE_GUIS=ON -DCREATE_LIB_MATH=ON -DCREATE_OPTIONAL_CARRIERS=ON -DENABLE_yarpmod_opencv_grabber=ON ..
+Hit 'c' to configure. Make sure the following options are set correctly and that there are no dependency problems:
+  CMAKE_BUILD_TYPE to "Release"
+  CREATE_SHARED_LIBRARY, set to ON
+  CREATE_DEVICE_LIBRARY_MODULES, set to ON
+  CREATE_GUIS, set to ON
+  CREATE_GYARPMANAGER, set to ON
+  CREATE_LIB_MATH, set to ON
+  CREATE_OPTIONAL_CARRIERS, set to ON
+  ENABLE_yarpmod_opencv_grabber, set to ON <-- just if we want to use OpenCV features
+Hit 'c' again to update and then hit 'g' to generate.
+) Install YARP
+  make
+  sudo make install
+) (Additional) Install YARP for Matlab
+Make sure yarp2 was compiled with option CREATE_SHARED_LIBRARY set to ON (especially make sure that no old static libraries (*.a) remain in /usr/local/lib)
+Java SDK needs to be installed (i.e. Oracle Java)
+  sudo add-apt-repository ppa:webupd8team/java
+  sudo apt-get update
+  sudo apt-get install oracle-java7-installer
+Add the following lines to ~/.bashrc (of course you need to change them to your actual paths, if you use matlab 32bit replace "x86_64-linux-gnu" with "i386-linux-gnu")
+	export JAVA_HOME=/usr/lib/jvm/java-7-oracle/
+	export LD_PRELOAD=/lib/x86_64-linux-gnu/libgcc_s.so.1:/usr/lib/x86_64-linux-gnu/libstdc++.so.6
+Next install SWIG
+  sudo apt-get install swig
+Go to YARP for Matlab folder and compile the sources
+  cd ${YARP_ROOT}/bindings
+  mkdir build && cd build
+  ccmake -DCREATE_JAVA=ON ..
+  make
+Now we need to compile the Java classes and copy them to a new structure
+  cd generated_src/
+  javac -source 1.3 -target 1.3 *.java
+  mkdir ~/local/src/jyarp
+  mv LoadYarp.class YarpImageHelper.class ~/local/src/jyarp/
+  mkdir ~/local/src/jyarp/yarp
+  mv *.class ~/local/src/jyarp/yarp/
+  javac -source 1.3 -target 1.3 *.java
+Add the following lines to ~/MATLAB/R2012b/toolbox/local/classpath.txt (get your path with 'which classpath.txt' in matlab, specifies location of *.class files)
+  ~/local/src/jyarp
+  ~/local/src/yarp2/bindings/build/generated_src
+Find out the location of librarypath.txt ('which librarypath.txt' in Matlab) and set write flags:
+  chmod +w ~/MATLAB/R2012b/toolbox/local/librarypath.txt
+Add the following line to ~/MATLAB/R2012b/toolbox/local/librarypath.txt (location of shared library libjyarp.so)
+	~/local/src/yarp2/bindings/build
+==== ERRORS during compilation or generation of the makefiles: ====
+* If YARP binaries cannot find OpenCV libraries run the following command to update the library configuration:
+  sudo ldconfig
+*If when configuring yarp with the flag:CREATE_OPTIONAL_CARRIERS set to ON,  you get the following error:
+  CMake Error: File ~/local/src/yarp2/src/carriers/mjpeg_carrier/mjpeg.ini does not exist. CMake Error at conf/YarpPlugin.cmake:477 (CONFIGURE_FILE): configure_file Problem configuring file Call Stack (most recent call first): src/carriers/mjpeg_carrier/CMakeLists.txt:7 (add_carrier_fingerprint)
+therefore, comment the line 7 from ~/yarp2/src/carriers/mjpeg_carrier/CMakeLists.txt
+#add_carrier_fingerprint(mjpeg.ini mjpeg_carrier)
+and configure again with the same flag on.
+==== Other ERRORS ====
+If you start Matlab from a launcher icon the LD_PRELOAD won't be set correctly, change launcher icon (/usr/share/applications/Matlab.desktop) to
+	Exec=env "LD_PRELOAD=/lib/x86_64-linux-gnu/libgcc_s.so.1:/usr/lib/x86_64-linux-gnu/libstdc++.so.6" ~/MATLAB/R2012b/bin/matlab -desktop