One of the main goals of the robotology-superbuild is to simplify downloading and building all the software
that is necessary to have on the main control computer contained in the head of the iCub robot, whose hostname
is icub-head (or pc104 in older iCub versions). This documentation provides the basic information necessary to
use the robotology-superbuild on the computer contained in the head of the iCub robot.
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 https://github.com/robotology/icub-tech-support.
The operating system contained in the icub-head/pc104 is tipically installed by IIT, for more information on it, please
check the relevant documentation at http://wiki.icub.org/wiki/The_Linux_on_the_pc104 . On this machine,
in /home/icub/.bashrc_iCub a script containing several enviroment variables definitions is provided. If you want to migrate to use
the robotology-superbuild, you need to remove the existing .bashrc_iCub file, and substitute it with the one provided in https://git.robotology.eu/MBrunettini/icub-environment/raw/master/bashrc_iCub_superbuild.
After you modified the .bashrc_iCub script, reboot the computer and in a new shell check che values of the ROBOTOLOGY_SUPERBUILD_SOURCE_DIR and YARP_ROBOT_NAME env variables.
If ROBOTOLOGY_SUPERBUILD_SOURCE_DIR contains /usr/local/src/robot/robotology-superbuild, and YARP_ROBOT_NAME contains the string specific to your robot,
then the modification of the .bashrc_iCub was successful.
On the icub-head/pc104, the software repository necessary to run the iCub robot are contained in the /usr/local/src/robot directory.
On a new machine, this directory should be empty. All the relevant software can download and build with the following commands:
cd /usr/local/src/robot
git clone https://github.com/robotology/robotology-superbuild.git
cd robotology-superbuild
mkdir build
cmake -DROBOTOLOGY_USES_GAZEBO:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON ..
makeThe main difference over the standard installation of the robotology-superbuild, is that the ROBOTOLOGY_USES_GAZEBO option
is disabled (as the Gazebo is tipically not installed in the icub-head/pc104 machine) and the ROBOTOLOGY_ENABLE_ICUB_HEAD option
is enabled, to enable all the YARP devices that are necessary to interface with the internal communication bus of the iCub robot.
The make command 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.
See the main robotology-superbuild README for more detailed information.
If the make command of the robotology-superbuild was successful, you just need to reboot the machine (or source again the .bashrc_iCub file) and
you will then be ready to use all the software provided by the robotology-superbuild.
Most of the existing documentation regarding the installation of the software on the pc104/icub-head