Kinematics... again:/

Here is a discussion about the kinematics of the actual machine in your first post:
sourceforge.net/p/emc/mailman/emc-users/...ail.com/#msg26845536

Missing from that conversation are several off-list messages that Viesturs and I exchanged. He did get quite a long way down the line of making a version of genserkins that handles sliding joints, I have attached the modified genserkins.c and gensekins.h files that we came up with, but be aware that they don't necessarily work

In the end Viesturs used a modified version of scarakins, called robotkins.c for that welding robot, I have also attached that.

How can i thank you for this? Now i'm reading it and trying to understand what is going on there. It will take same time and i'm sure more questions will arise. C-language file have to be compiled, right? And compillation process will create proper folders and files automatically, right??

You should be able to compile and install the robotkins.c file using the LinuxCNC Halcompile utility.

linuxcnc.org/docs/2.7/html/hal/comp.html

sudo halcompile --install robotkins.c

After reading:
linuxcnc.org/docs/2.7/html/hal/comp.html
i know that the robotkins.c (or other C language files with kinematics) is a real time component and it is to be compiled and installed 'outside the source tree' - but what does it mean 'outside the source tree'? You know the sentences like this make a non-linux user very confused. One is reading things like this and thinks he understand what he is reading but in fact he don't:)
I couldn't find the answer where should i go in the terminal? Should i be in home directory and then issue
sudo halcompile --install custonkim.c or maybe it is no important where am i? Where customkin.c file should be located when issuing halcompile?
Please tell me: after succesful compiling and installation of the new kinematics will there be a new configuration (i.e. 'customkin') available in 'My Configurations' tree in the LinuxCNC Configuration selector window?

Sorry for so newbie questions... it is all Gill Bates from Michaelsoft corp. fault;P

so far i tried this:
in terminal go to 'Downloads' directory where robotkins.c file was downloaded and say: 'sudo halcompile --install robotkins.c'. The following messages popped out:

"
bogicnc@bogicnc:~/Downloads$ sudo halcompile --install robotkins.c
[sudo] password for bogicnc:
Traceback (most recent call last):
File "/usr/bin/halcompile", line 1353, in <module>
main()
File "/usr/bin/halcompile", line 1336, in main
shutil.copy(f, tempdir)
File "/usr/lib/python2.7/shutil.py", line 119, in copy
copyfile(src, dst)
File "/usr/lib/python2.7/shutil.py", line 82, in copyfile
with open(src, 'rb') as fsrc:
IOError: [Errno 2] No such file or directory: 'robotkins.c'
"

what now?

there is no 'compile' element in /usr/bin folder.
Should i install:

sudo apt-get install linuxcnc-dev

?