Time for iCub! … shit. According to the icub manual:

CREATE_OPTIONAL_CARRIERS, set to ON 
 ENABLE_yarpcar_bayer_carrier, set to ON

ok, back to yarp/build/

make uninstall
cd .. && mkdir build2 && cd build2
cmake -DCREATE_GUIS=on -DCREATE_LIB_MATH=on -DCREATE_OPTIONAL_CARRIERS=on -DENABLE_yarpcar_bayer_carrier=on ../
make -j4
make install

Done, what now? Clone the repo, cmake:

 cmake -DCMAKE_BUILD_TYPE=Release -DENABLE_icubmod_cartesiancontrollerclient=on -DENABLE_icubmod_cartesiancontrollerserver=on -DENABLE_icubmod_gazecontrollerclient=on ../

make -j4, make install and go through the tutorial to get it working! yarpserver in the background somewhere (until the end, it’s not gonna hang despite me great efforts) and …  Oh… shit…
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And now it’s time for YARP!
First fetch ACE from the official website and read the ACE_INSTALL.html inside the .tar.gz. Oh, it’s a lengthy and not-so-easy one. Step by step:
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And this will actually result in:

• working Gazebo
• working rviz, rqt
• working roscore

Not bad? So, let us go:
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Ok, what I am showing here is VERY experimental and is a sketch of how I got to the point of a working ROS on a Slackware … 14.2, because of cmake mainly.
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