===== Install MobotWare =====
First follow this instruktion:
[[mobot>Install_on_(K)UBUNTU|Install MobotWare on (K)Ubuntu]]

If you are running Ubuntu 12.04 and ROS Fuerte you need to [[robotsoftware:mobotware:install:mobotware-ros-fuerte|check this instruction]] to make sure you can 

Then do the following steps to compile and install the entire package:

==== libboost ====
There is a problem during compilation of the plugin auviewer. To solve this problem locate the following file:
  /usr/include/boost/thread/exceptions.hpp
  
Add the following code at line 11
<code>
//added by Jens Christian Andersen and Claes Jaeger for MobotWare to compile auviewer-plugin
//ubuntu 13.04(32bit), gcc 4.6 (downgrade from 4.7 - see rsewiki.elektro.dtu.dk), libboost 1.49
//produces errors when compiling, because of the attributes defines somewhere else in boost. 
//the consequences for this hack has not been investigated, the compiled plugin has been tested and is working.
#define BOOST_SYMBOL_VISIBLE 
</code>



==== PCL ====
Deprecated. Working in Ubuntu 13.04
<del>I am not sure why these links are missing, but test it before you start installing all the symbolic links.

Run the following commands</del>
  sudo ln -s /usr/include/eigen3/Eigen Eigen
  sudo ln -s /usr/include/pcl-1.6/pcl/ pcl

  sudo mkdir /usr/include/pcl
  sudo mkdir /usr/include/pcl/common
  cd /usr/include/pcl
  sudo ln -s /usr/include/pcl-1.6/pcl/pcl_base.h pcl_base.h
  cd common
  sudo ln -s /usr/include/pcl-1.6/pcl/common/distances.h distances.h
  sudo ln -s /usr/include/pcl-1.6/pcl/common/common.h common.h
  sudo ln -s /usr/include/pcl-1.6/pcl/common/eigen.h eigen.h
==== MRC ====
deprecated
<del>  /usr/bin$ sudo ln -s g++ g++44</del> 

==== RHD ====
If you have problems with compiling RHD because of RTAI [[robotsoftware:mobotware:install:rtai|install RTAI using the instructions]]

=== Profibus plugin ===
Remove this from the make file if you dont need it. It can cause problems during compilation.


=== Stage 2.1 ===
Change <code>/usr/local/lib/pkgconfig/stage.pc</code> remove the requirements for playercore.


  - Download [[http://ftp.gnome.org/pub/gnome/sources/gtk+/2.24/gtk+-2.24.0.tar.gz|GTK 2.24]], not 3!
    - Install GTK 2.24
  - Download [[http://sourceforge.net/projects/playerstage/files/Stage/2.1.0/|stage 2.1.0]]
  - Install stage 2.1
    - Unpack the zip file
    - run <code>./configure</code>
    - run <code>sudo make install</code>
This should give you the files you need.

Make the following change in makefile for simstage211
  #INC  = -I../../include -I../../src -I/usr/local/include/stage-2.1 -I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include 
  #Fix made for bug in 11.04 be awere if the bug is fixed!! 
  INC  = -I../../include -I../../src -I/usr/local/include/stage-2.1 -I/usr/include/glib-2.0 -I/usr/lib/i386-linux-gnu/glib-2.0/include/
The
  i386-linux-gnu
library depends on the installation and the hardware on the pc where you try to install MobotWare

=== Stage 3.2.2 ===
This is fucked up in 13.04!!!

http://www.cnblogs.com/kevinGuo/archive/2012/05/03/2480077.html