Install iCub software from source manually installing each software package
The page contains instructions for compiling YARP and the iCub software. We recommend you get the required dependencies from the binary packages.
Getting all dependencies
www.icub.eu to your sources.list.
debian, depending on your system.
sudo sh -c 'echo "deb http://www.icub.eu/ubuntu `lsb_release -cs` contrib/science" > /etc/apt/sources.list.d/icub.list' sudo apt update
Missing public key
if apt complains about missing public key, please import the repository public key (this needs to be done only once) as follows
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 57A5ACB6110576A6`
Install only the package icub-common:
sudo apt install icub-common
Setting up revision control systems
To download sources from our repositories you need to set up a revision control system client. The git client was already installed with the icub-common package.
Compile YCM (optional)
Although YCM is already contained in
icub-common, you might want to get
the latest release. To do so, clone and build the tag associated with
the distro at hand as specified in Software Versioning
git clone https://github.com/robotology/ycm.git -b vxx.yy.zz cd ycm && mkdir -p build && cd build ccmake ../ sudo make install
Follow instructions provided in the official YARP documentatipn, follow the section Install from sources -- Compiling YARP (skip installation of packages).
Importantly, for use with the iCub robot when compiling YARP make sure
* you check out the correct tag of YARP according to the Software Versioning
* you set to on the CMake options
Download icub-main source code
In the rest of the tutorial, it will be assumed that you will downloaded
the code in the
To download the
icub-main source code, just use git:
cd /home/user git clone https://github.com/robotology/icub-main.git
This command will create the
icub-main source code.
Checkout the correct tag
Pick up the correct tag vxx.yy.zz from Software Versioning Table that is compatible with the compiled version of YARP and do:
cd icub-main git checkout vxx.yy.zz
Create iCub makefiles
Pick a build directory to store makefiles and binaries, e.g.
Run CMake to generate makefiles:
cd /home/user/icub-main mkdir build cd build ccmake ../
Hit 'c' to configure the project.
CMAKE_BUILD_TYPE to "Release" ENABLE_icubmod_cartesiancontrollerclient ON ENABLE_icubmod_cartesiancontrollerserver ON ENABLE_icubmod_gazecontrollerclient ON
Leave all other options to default (unless you know what you are doing).
Note : You can optionally change
CMAKE_INSTALL_PREFIX, this is the
directory where you would like to install icub-main (default is
If you set it to a different prefix than YARP's, you will then need to
set up the environment accordingly (see Configure your environment section below).
cd /home/user/icub-main/build make sudo make install
Setup ICUBcontrib (optional)
First, you need to download the sources.
cd /home/user/ git clone https://github.com/robotology/icub-contrib-common.git
Second, make sure you have the correct release according to Software Versioning Table.
cd /home/user/icub-contrib-common/ git checkout <tag>
cd /home/user/icub-contrib-common/ mkdir build && cd build ccmake ../
At this stage you must change CMAKE_INSTALL_PREFIX entry here to the path of your liking, preferably in your home; hit 'g' to generate the project. If you do not change the CMAKE_INSTALL_PREFIX you will need to constantly use sudo for any subsequent action, eg: run module with administrative rights.
Once you have installed the ICUBcontrib package you can compile the other modules individually.
Configure your environment
If you installed YARP and/or iCub or ICUBcontrib to non-default directories, you need to set your environment.
- Set the
ICUBcontrib_DIRenv var to point to the installation directory.
$ICUBcontrib_DIR/binto your PATH.
- Set the
CMAKE_PREFIX_PATHenv var to point to the installation directory
- Modify the variable
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.