MacBinaries

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Table of contents

• Mac - Installing from Binaries
• Compile and Install the iCub plugin
• Run and Test Total99

Mac - Installing from Binaries

The installation of FARSA from binaries are made with the help of the MacPorts package manager.

Once the latest version of MacPorts has been installed on your system, to install FARSA follow these steps:

• Download Portfile instruction packages from the sourceforce repository

  svn checkout svn://svn.code.sf.net/p/farsa/code/farsaMacports $HOME/farsaMacports
  

• Edit the sources configuration file of MacPorts:

  sudo nano /opt/local/etc/macports/sources.conf
  

  and add the following line at the end:

  file:///$HOME/farsaMacports
  

  Pay ATTENTION: substitute the $HOME variable with the full path (i.e.: /Users/gianluca)

• Run the following command to install FARSA

  sudo port install farsa
  

Compile and Install the iCub plugin

Support for the iCub robot in FARSA is now in a plugin, which needs to be compiled and installed. The plugin can be found in the farsa-plugins package (available here). Before compiling the plugin, you must install both YARP and iCub, as shown below:

• Use MacPorts to install YARP and iCub:

  sudo port install robotcub
  

• Execute the following command to setup the environment paths for YARP and iCub

  robotcubSetupEnv
  

Once the dependencies have been installed, you can compile and install the iCub plugin as any other plugin. The procedure is explained in this page. Remember to install the iCub plugin so that it can be used by other plugins depending on it.

Run and Test Total99

If everything went well, you should now be able to start the total99 executable simply by double-clicking on the executable present into /opt/local/bin