YARP ~~~~ YARP can be installed either by hand, or with the aid of **robotpkg**. Manually ++++++++ YARP has a number of dependencies, and all of these packages must be installed in accordance the instructions they provide, in the following order: - ACE (>=5.6.3, required for YARP) - SWIG (2.0.4, required to compile the Python bindings) - YARP version (>=2.2.5) (warning, there is a known issue with yarp-2.3.0, don't try to use MORSE with this version. The issue has been fixed with yarp-2.3.1). - YARP Python bindings Instructions to build the YARP-Python bindings are `here `_. Compiling the YARP Python bindings will create two files: ``yarp.py`` and ``_yarp.so``. To be able to use the yarp module within Python, you must copy these files to your Python lib directory (``/usr/lib/python3.2/site-packages/``) or at some place reachable from your ``PYTHONPATH`` environment variable. .. warning:: The name of the installation directory may be different depending on your Linux distribution. If you use Ubuntu or similar distributions, replace the directory name of ``python3.2/site-packages`` with ``python3/dist-packages``. Make sure you use the actual path used in your computer for all Python 3 libraries. .. note:: To properly use simulated cameras with yarp < 2.3.2, you need to apply the patch from ``patches/yarp.i.diff``. Packages manager ++++++++++++++++ Probably the the easiest way to install YARP is to use ``robotpkg`` (see `robotpkg homepage `_ for more information). Follow the instructions on installing ``robotpkg``. Then add the environment variable ``ROBOTPKG_BASE`` to your shell. Then to install YARP:: $ cd $ROBOTPKG_BASE/robotpkg/middleware/yarp $ make update Afterwards, install the ``morse`` specific bindings for Python:: $ cd $ROBOTPKG_BASE/robotpkg/simulation/morse-yarp $ make update This should take care of installing the required files ``yarp.py`` and ``_yarp.so`` in the correct location.