main stuff (python 2):
pygame
psyco (optional)

vision (python 2):
opencv

planner (C++):
uses boost_thread, boost_regex, boost_date_time
uses a MODIFIED version of Box2D 2.1 (see libraries/Box2D/Modifications.txt)
example compilation:
g++ simulator.cpp -o simulator -O3 -mmmx -msse -msse2 -lBox2D -lboost_thread-mt -lboost_regex-mt -lboost_date_time-mt -lpthread -static

simulator (C++):
uses boost_thread, boost_regex, boost_date_time
uses CGAL 3.7
example compilation:
g++ planner.cpp -o planner -O2 -mmmx -msse -msse2 -lboost_thread-mt -lboost_regex-mt -lboost_date_time-mt -lCGAL -lpthread -static

robot communication (Java):
uses a development version of LeJOS (rev 4237; https://lejos.svn.sourceforge.net/svnroot/lejos)
compilation: nxjpcc RobotCommunication.java
run: python ../../proxy.py nxjpc RobotCommunication

movement (Java):
uses the same version of LeJOS as above
compilation: nxjc Start.java
first upload and run: nxj -r Start

example run:
start central server on computer HOST
python start_real.py
start vision (make sure the pitch is clear)
python ../vision_proxy.py --host HOST python startgui.py
start movement on the brick:
nxj -r Start
connect to the brick
python ../../proxy.py --host HOST nxjpc RobotCommunication
start planner
python proxy.py --host HOST planner/planner
specifying the host is necessary on for the modules that are not run on the same computer as the central server.