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yarp-devices: Installation from Source Code

First install the dependencies:

The SoftNeckControl YARP device requires the following additional packages:

Space Navegator: Install dependencies:

sudo apt install libmotif-dev 
sudo apt install libspnav-dev 
sudo apt install spacenavd

Install Additional Libraries for MPU9250 sensor:

In order for YARP to recognize the serial port of the Arduino, we need to:

Install ACE library

sudo apt-get install libace-dev

Activate serial-port and install the changes:

cd ~/repos/yarp/build
cmake .. -DENABLE_yarpmod_serialport=ON
make -j$(nproc) # Compile
sudo make install && sudo ldconfig && cd # Install and go home

Install Additional Libraries for 3DMGX510 sensor:

sudo apt-get install libqt5serialport5-dev
sudo apt remove 'libboost.*-dev' # to remove old versions
sudo add-apt-repository ppa:mhier/libboost-latest # to install last version (1.68)
sudo apt update
sudo sudo apt install libboost1.73-dev

Install NatNet Library for MOCAP sensor:

cd
sudo cp repos/yarp-devices/libraries/NatNetLib/libNatNetLibShared.so /usr/local/lib

Set up an environment variable for defining the path to the library file directory. You may also be interested in adding the following to your ~/.bashrc or ~/.profile:

export LD_LIBRARY_PATH="/usr/local/lib"

Install yarp-devices on Ubuntu (working on all tested versions)

Our software integrates the previous dependencies. Note that you will be prompted for your password upon using sudo a couple of times:

cd  # go home
mkdir -p repos; cd repos  # create $HOME/repos if it does not exist; then, enter it
git clone --recursive https://github.com/HUMASoft/yarp-devices.git  # Download yarp-devices software from the repository
cd yarp-devices; mkdir build; cd build; cmake ..  # Configure the yarp-devices software
make -j$(nproc) # Compile
sudo make install  # Install :-)
cp ../scripts/gnome/yarp-devices.desktop $HOME/Desktop/

In order to get resourcefinder to locate those robot-specific directories, the environment variable YARP_ROBOT_NAME should be set accordingly. Add the lines export YARP_ROBOT_NAME=teoSoftNeck and export YARP_ROBOT_NAME=teoSoftArm to /etc/environment or .bashrc For additional options use ccmake instead of cmake.