Dependencies

At first install the YARP and iCub related software before installing the interface. An installation guide for YARP/iCub can be found in the github superbuild repository.

For the use with ANNarchy, install ANNarchy following the installation guide in the documentation.

Default Installation

Then the interface can be installed with pip by executing the following line in a terminal in the interface directory.

pip3 install .

In case of missing/false include directories the directories for YARP and/or OpenCV need to be modified in build_config.toml (yarp_prefix/cv_include).

Otherwise it could also be in installed with pip and the github link:

pip3 install git+https://github.com/ANNarchy/ANNarchy-iCub.git # for specific branch add "@branchname" without spaces

Enable Low-Level gRPC communication (optional)

The interface is build in a default configuration. In this case the gRPC communication with ANNarchy is disabled. To enable this part, set the use_grpc parameter in build_config.toml to True. This part depends on the gRPC package and the protobuf compiler. The system packages are recommended especially for recent Linux versions (>Ubuntu 18.XX). Install the following apt packages: protobuf-compiler-grpc, libgrpc++-dev

sudo apt install protobuf-compiler-grpc libgrpc++-dev

For the source installation of gRPC (installation from the repository with cmake or bazel) you need to take care of other packages, using protobuf like gazebo to handle the needed versions. Since this can lead to a lot of trouble, the use of the system packages is recommended.

Update

First checkout the current changes for the repository. If there are changes in the c++-core it could be necessary to set the rebuild_cython flag in build_config.toml to True, to make sure the changes are processed correctly.

When installed directly from github simply reinstall the interface with the upgrade flag:

pip3 install --upgrade git+https://github.com/ANNarchy/ANNarchy-iCub.git # for specific branch add "@branchname" without spaces