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These are instructions for compiling the repository with the old build system.

Compile the iCub software

Generate makefiles

First you need to generate make files. In $ICUB_ROOT:

ccmake ./

You don't need particular options. If you want to compile using optimization just set:

  • CMAKE_BUILD_TYPE to "Release"

Other options are:


These options are recommended, because they enable compilation of some useful GUIs. Important: these options can be enabled only if you have installed the required libraries: gtk, gtkmm and qt (see PrepareLinux).

  • Similarly to YARP, by default make will build executables and libraries in $ICUB_ROOT/bin and $ICUB_ROOT/lib. You can customize where "make install" will copy these files by setting: CMAKE_INSTALL_PREFIX to something you like.

If you need to compile devices that provide interface to the hardware you can follow this link Compilation on the pc104


Compile the code.