• Install distcc and ccache in all computers

sudo apt-get install distcc ccache

• Put the following in your .bashrc:

export CCACHE_PREFIX=distcc
export DISTCC_HOSTS='username@computer1/5:/usr/bin/distccd username@computer2/5:/usr/bin/distccd'
export ROS_PARALLEL_JOBS="-j10"
export PATH=${HOME}/local/bin:${PATH}

• Create some files in a ccache program in your xstow directory (~/local/DIR/ccache):

cd ~/local/DIR
mkdir -p ccache/bin
cd ccache/bin
ln -s /usr/bin/ccache cc
ln -s /usr/bin/ccache c++
ln -s /usr/bin/ccache gcc
ln -s /usr/bin/ccache g++
cd ../../
xstow ccache

• Activate connection caching. Edit ~/.ssh/config with:

Host *
  ControlMaster auto
  ControlPath ~/.ssh_tmp/master-%r@%h:%p

• Create temp dir:

mkdir ~/.ssh_tmp

• Make sure you can log in without password
• Try to compile something!
• If something doesn't work try: export DISTCC_VERBOSE=1
• To compile PCL with distcc you have to disable the CMAKE flag -march=native in cmake/pcl_find_sse.cmake

Refs: http://toychest.in.tum.de/wiki/robots:rosie_distcc

~~DISCUSSION~~