Superbuild installation on icub-head¶
icub-head (also known as
pc104 on older iCubs) is a Linux system, so the
installation procedure follows the one described in the installation for Linux systems.
The main difference is that in addition you need to enable certain flags in CMake that enable compilation of specific software modules.
Prepare your system¶
Warning: if your iCub robot is not currently using the robotology-superbuild, do not attempt to migrate it without coordinating with the iCub support. For any doubt, please open an issue at robotology/icub-tech-support.
This page only covers the software installation on the icub-head. To prepare the operating system for the icub-head system, please refer to Section on iCub Operating Systems.
Depending on your configuration, you may already have the required source code git repositories cloned in these directories:
If for some reasons you do not have these directories you have to download the repositories from git:
cd /usr/local/src/robot git clone https://github.com/robotology/robotology-superbuild.git cd robotology-superbuild git checkout v<YYYY.MM>
Importantly, you should use a given release, see Software Versioning Table for more info.
Do not change the location of the repositories because the icub environment on the icub-head is already configured by assuming the above directories.
cd /usr/local/src/robot/robotology-superbuild mkdir build cmake -DROBOTOLOGY_USES_GAZEBO:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON .. make
ROBOTOLOGY_USES_GAZEBOoption is disabled (as the Gazebo is tipically not installed in the
pc104machine) and the
ROBOTOLOGY_ENABLE_ICUB_HEADoption is enabled, to enable all the YARP devices that are necessary to interface with the internal communication bus of the iCub robot. The
makecommand in this case will download, compile and install all the software necessary to run the robot itself.
If you need to use other superbuild profiles, they can be easily enabled with the corresponding CMake option.
Important: do not run
make install for the superbuild: the superbuild already installs all the software in
/usr/local/src/robot/robotology-superbuild/build/install, and installing the software elsewhere on the robot is not currently supported.
Important: If you are using an old iCub that still uses the CAN internal bus, you also need to enable the
ROBOTOLOGY_USES_CFW2CAN CMake option. Note that in this case the
.bashrc_iCub file should also contain the definition of the
CFW2CANAPI_DIR environmental variables, in addition to all the environmental variable already defined in that file.
Refer to the
robotology-superbuild documentation for more detailed information.
After the compilation finished, you can check that the compilation ended correctly by opening a new terminal and executing:
The command should work correctly, and among the others the list should contain several devices:
Device "serial", C++ class ServerInertial, is a network wrapper, Device "serialport", C++ class SerialDeviceDriver, wrapped by "serial" Device "portaudio", C++ class ...
Configuring your Robot¶
In case you want to tune/modify any robot parameters, remember to create first your local copies:
yarp-config robot --import $YARP_ROBOT_NAME
Now you should have editable copies in
Further documentation is available in