Create a YaST installation source with the following settings:
The ICG packages will be listed in YaST.
Download the file icg.repo and copy it into the YUM configuration directory (i.e., /etc/yum.repos.d under SuSE). Then you can download and install packages by typing
yum install <package-name>
Dependencies will be resolved automatically.
You can browse the available packages and manually download and install them. It is recommended to import the package signing key before by typing
rpm --import http://rpm.icg.tugraz.at/icg.asc