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First follow Setting Up a Development Environment instruction. I copy paste them here for ubuntu as well.

sudo apt-get install python-dev libssl-dev python-pip git-core libmysqlclient-dev libpq-dev libffi-dev libxslt-dev

Install virtualenv:

sudo easy_install virtualenv

Grab the code:

git clone https://github.com/openstack/cinder.git
cd cinder

run unit tests, install virtual environment then activate the virtual environment.

tox -e py34
tox -e py27
python tools/install_venv.py
source .venv/bin/activate

install Cinder

python setup.py install

if everything goes well you will have cinder-scheduler in the virtual environment bin directory.

Run Cinder API

/usr/bin/python /root/cinder/.venv/bin/cinder-api --config-file=/root/cinder/.venv/etc/cinder/cinder.conf --log-file=/root/cinder/.venv/var/log/cinder/cinder-api.log

Run Cinder Scheduler

/usr/bin/python /root/cinder/.venv/bin/cinder-scheduler --config-file=/root/cinder/.venv/etc/cinder/cinder.conf  --log-file=/root/cinder/.venv/var/log/cinder/cinder-scheduler.log

make sure to have a proper cinder.conf file. Also, there are few more configuration files that might be needed, I recommend to copy them from a running Cinder instance. Below are the list of those configuration files:

api-paste.ini
cinder-api.log
cinder.conf
logging.conf
policy.json
rootwrap.conf

Below is another issue that I ran into.

2016-07-16 12:38:07.862 1849 ERROR cinder.api.middleware.fault ImportError: No module named memcache

To fix, deactivate the virtual environment and install memcached.

deactivate
pip install python-memcached