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.