Table of Contents

Installation Guide for Debian/Ubuntu (32bit)

1. Install Octave, Boost, and ODE

Install the packages, octave3.0 and octave3.0-headers.
 $ sudo apt-get -f install octave3.0 octave3.0-headers
Note: octave3.2 is not supported by SkyAI 0.1.0. Use the latest version of SkyAI (get by git) to work with octave3.2 (package names are: octave3.2 octave3.2-headers).
Note: You may need to create a symbolic link of, as follows:
 $ cd /usr/lib
 $ sudo ln -s
Boost C++ Libraries
Install libboost1.40-all-dev.
 $ sudo apt-get -f install libboost1.40-all-dev
Open Dynamics Engine (ODE)
Since the binary package of ODE does not provide libdrawstuff, we compile ODE from the source code. First of all, we need to install OpenGL:
 $ sudo apt-get -f install libglut3 libglut3-dev
If you cannot find out these packages, freeglut3 and freeglut3-dev may be the alternatives.
Then, download the source code (e.g. and extract it:
 $ cd ~/lib
 $ unzip
 $ cd ode-0.11.1/
Here, we put ODE on ~/lib/ode-0.11.1, but any location is possible. Execute ./configure (maybe you need to install the other packages):
 $ ./configure --enable-double-precision
Here, --enable-double-precision is required for the SkyAI's benchmark. If the configure succeeded, execute the make command:
 $ make
That's it. You need NOT to execute 'make install'.
When installing ODE, you will see the following errors:
 x11.cpp:108: error: undefined reference to 'XOpenDisplay'
 x11.cpp:123: error: undefined reference to 'XCreateColormap'
To fix this problem, you need to change the configure option. These errors arise because the library is not about to be linked. Thus, set -lX11 in X_EXTRA_LIBS, then configure. Specifically, if you are using bash, execute as follows:
X_EXTRA_LIBS=-lX11 ./configure --enable-double-precision

2. Download the source code

You can choose two ways:

(1) Get the files from the Git repository (recommended)
You need the Git program. If you do not have Git, install:
 $ sudo apt-get -f install git-core
Download SkyAI from sourceforge:
 $ cd ~/proj
 $ git clone git://
Here, we put SkyAI on ~/proj/skyai, but any location is OK.
(2) Download the archive (easy)
Download an archive from SkyAI File List, then extract it. Here, we assume the extracted directory is ~/proj/skyai, but any location is OK.

3. Setup the makefiles

Create the following files at the SkyAI directory (e.g. ~/proj/skyai).

 include $(BASE_REL_DIR)/Makefile_preconf.sample
 SKYAI_BASE := $(wildcard ~/proj/skyai)
Here, we assume that SkyAI is put on ~/proj/skyai. If not, modify SKYAI_BASE.
 ## for Octave
 ifeq ($(USING_OCTAVE),true)
   LIBS += -I/usr/include/octave-$(OCTAVE_VER)
   LDLIBS += -L/usr/lib/octave-$(OCTAVE_VER) -loctave -lcruft -Wl,-rpath /usr/lib/octave-$(OCTAVE_VER)
   LDLIBS += -ldl -lfftw3 -L/usr/lib/atlas -latlas -llapack -lblas
 ## for ODE
 ifeq ($(USING_ODE),true)
   LIBODE := $(wildcard ~/lib/ode-0.11.1)
   LIBS += -I$(LIBODE)/include
   LDLIBS += $(LIBODE)/ode/src/.libs/libode.a
   LDLIBS += $(LIBODE)/drawstuff/src/.libs/libdrawstuff.a
   LDLIBS += -lSM -lICE -lGL -L/usr/X11R6/lib -lXext -lX11 -ldl -lGLU -lpthread
Here, we assume that (1) the octave version is 3.0.5, and (2) ODE is version 0.11.1 and put on ~/lib/ode-0.11.1. If you are using a difference configuration, modify OCTAVE_VER and LIBODE.

4. Build

In the skyai directory, execute:

 $ make

Installation Guide for Debian/Ubuntu (64bit)

In the procedure of Debian/Ubuntu (32bit), change the setup of Makefile_preconf as follows:

 include $(BASE_REL_DIR)/Makefile_preconf.sample
 SKYAI_BASE := $(wildcard ~/proj/skyai)
 ifeq ($(DEBUG),true)
   CXXFLAGS := -g -Wall -rdynamic
   CXXFLAGS := -g -Wall -rdynamic -O3


To test your installation, please see Running Demos.

If you have a trouble...

Please do not hesitate to contact us. Any comments are welcome!



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Last-modified: 2012-08-21 (Tue) 05:59:40 (2465d)