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Install iCub software from pre-compiled binaries on Linux (Debian/Ubuntu)

We provide binaries apt binary packages for the software contained in the ycm, yarp and icub-main repositories.

Warning: this Linux apt packages do not support the installation of the packages required for Gazebo simulations. If you want to simulate the iCub with Gazebo, please follow the instructions on how to install the iCub software from source using the robotology-superbuild.


Setting up your source list

Add to your APT sources: see below, where you may replace ubuntu with debian, depending on your system.

sudo sh -c 'echo "deb `lsb_release -cs` contrib/science" > /etc/apt/sources.list.d/icub.list'
sudo apt update


If you face the following error

The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 57A5ACB6110576A6
Please add to your apt keystore the key 57A5ACB6110576A6 as follows
sudo apt-key adv --keyserver --recv-keys 57A5ACB6110576A6

Missing support for i386 architecture

If you face the following error

N: Skipping acquire of configured file 'contrib/science/binary-i386/Packages' as repository ' jammy InRelease' doesn't support architecture 'i386'
please add [arch=amd64] in the file /etc/apt/sources.list.d/icub.list as follows (eg. in case of Ubuntu Jammy Jellyfish)
deb [arch=amd64] jammy contrib/science

Legacy keyring deprecation

If you face the following warning

W: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
Please ignore it.


iCub packages needs a recent version of cmake (at least 3.12). Where this version is not available (such as Ubuntu 18.04 Bionic) when you try to install the icub-common package you'll see the following error:

The following packages have unmet dependencies:
 icub-common : Depends: ycm-cmake-modules but it is not going to be installed
              Depends: cmake (>= 3.12.0)
E: Unable to correct problems, you have held broken packages.

To solve the above issue, you need to add the official Kitware APT repository.

Install the binaries

The following command

sudo apt install icub

installs the latest version of the software contained in icub-main and all the required dependencies (including YARP).

Check your installation

After you followed the installation instructions, you can check if your installation was successful by following the instructions in the Check your installation page.


If you just want to remove the yarp and icub binary packages and keep the icub-common package to compile iCub software from sources, just use apt remove and remove the installed packages:

sudo apt remove yarp icub

If you want to remove everything installed with this guide, please also remove the icub.list file from the /etc/apt/sources.list.d directory:

sudo rm /etc/apt/sources.list.d/icub.list