ICub instructions - Revision history

Giovanni Saponaro: /* Starting YARP components */ embed new yarpmanager screenshots (2020)

2020-02-14T18:58:32Z

Starting YARP components: embed new yarpmanager screenshots (2020)

← Older revision		Revision as of 18:58, 14 February 2020
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	* In the Cluster part, click on the green 'Run yarpserver' play button. The light above the 'Stop' button will become green.		* In the Cluster part, click on the green 'Run yarpserver' play button. The light above the 'Stop' button will become green.
	* In the Nodes part, choose all the machines in the 'Select' column, then click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light.		* In the Nodes part, choose all the machines in the 'Select' column, then click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light.

			=== Screenshots ===

			[[Image:Yarpmanager_launch_yarpserver.png\|1024px]]

			[[Image:Yarpmanager_launch_yarprun.png\|1024px]]

			[[Image:Yarpmanager_launch_yarprobotinterface.png\|1024px]]

	== Other components ==		== Other components ==

Giovanni Saponaro: robotInterface -> yarprobotinterface

2020-02-14T18:53:56Z

robotInterface -> yarprobotinterface

← Older revision		Revision as of 18:53, 14 February 2020
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	=== Software side ===		=== Software side ===

	* Stop your demo software and the cameras with the GUI; do not stop ~~robotInterface~~ (in the iCubStartup panel) nor <code>yarpserver</code> (in the Cluster Manager window)		* Stop your demo software and the cameras with the GUI; do not stop yarprobotinterface (in the iCubStartup panel) nor <code>yarpserver</code> (in the Cluster Manager window)
	* In the iCubStartup panel of the GUI, stop all modules, including ~~robotInterface~~. Chico will thus move its limbs and head to a "parking" position. (If things don't quit gracefully, stop or kill the process more times and be ready to hold Chico's chest since the head may fall to the front.)		* In the iCubStartup panel of the GUI, stop all modules, including yarprobotinterface. Chico will thus move its limbs and head to a "parking" position. (If things don't quit gracefully, stop or kill the process more times and be ready to hold Chico's chest since the head may fall to the front.)
	* In the Cluster Manager window, stop the instances of <code>yarprun</code> (lower panel). It is not necessary to stop <code>yarpserver</code> (upper panel), we usually keep it on		* In the Cluster Manager window, stop the instances of <code>yarprun</code> (lower panel). It is not necessary to stop <code>yarpserver</code> (upper panel), we usually keep it on

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	* Shut down the [[pc104]] with this command in a terminal: <code>sudo halt</code>		* Shut down the [[pc104]] with this command in a terminal: <code>sudo halt</code>
	* Turn off the two green switches. Pay attention when turning off the 'Motors' switch: if ~~robotInterface~~ was not stopped properly in the previous steps, then be ready to hold the robot when turning that switch		* Turn off the two green switches. Pay attention when turning off the 'Motors' switch: if yarprobotinterface was not stopped properly in the previous steps, then be ready to hold the robot when turning that switch
	* Turn off the Xantrex power supply units		* Turn off the Xantrex power supply units
	* Do not turn off the [[iCub laptop]], we usually keep it on		* Do not turn off the [[iCub laptop]], we usually keep it on
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	Use this button with great care, as it cuts power to all motors and controllers abruptly! In particular, be ready to hold Chico, because the upper part of his body might fall upon losing power.		Use this button with great care, as it cuts power to all motors and controllers abruptly! In particular, be ready to hold Chico, because the upper part of his body might fall upon losing power.

	To start using the robot again, it is convenient to quit and restart all the software components and interfaces; refer to [[#Switching on the robot]] for that. '''Don't forget to unlock the red emergency button''' after an emergency, otherwise the program [[#~~robotInterface~~]] will start but not move any joint.		To start using the robot again, it is convenient to quit and restart all the software components and interfaces; refer to [[#Switching on the robot]] for that. '''Don't forget to unlock the red emergency button''' after an emergency, otherwise the program [[#yarprobotinterface]] will start but not move any joint.

	== Starting YARP components ==		== Starting YARP components ==
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	== Other components ==		== Other components ==

	Many demos and programs assume that components such as cameras, the ~~robotInterface~~ driver or the facial expression driver have been launched. To start them, first of all run the '''yarpmanager.sh''' icon. A GUI similar to this one will appear:		Many demos and programs assume that components such as cameras, the yarprobotinterface driver or the facial expression driver have been launched. To start them, first of all run the '''yarpmanager.sh''' icon. A GUI similar to this one will appear:

	[[Image:gyarpmanager.png]]		[[Image:gyarpmanager.png]]
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	[[Image:gyarpmanager_toolbar.png]]		[[Image:gyarpmanager_toolbar.png]]

	=== ~~robotInterface~~ ===		=== yarprobotinterface ===

	This program controls the motors and reads the robot sensors (encoders, inertial sensor, skin, force/torque). It is needed by almost all demos.		This program controls the motors and reads the robot sensors (encoders, inertial sensor, skin, force/torque). It is needed by almost all demos.

	* '''check that the red emergency button is unlocked'''		* '''check that the red emergency button is unlocked'''
	* open the '''iCubStartup''' panel in the yarpmanager GUI; click the Run Application button. This will start both kinematics (~~robotInterface~~, cartesian solvers and gaze control) and dynamics (wholeBodyDynamics and gravityCompensator)		* open the '''iCubStartup''' panel in the yarpmanager GUI; click the Run Application button. This will start both kinematics (yarprobotinterface, cartesian solvers and gaze control) and dynamics (wholeBodyDynamics and gravityCompensator)

	Wait for all boards to answer (which takes around 1 minute); after that, you are ready to move on.		Wait for all boards to answer (which takes around 1 minute); after that, you are ready to move on.
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	* Make sure that basic YARP components are running: [[#Switching on the robot\|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]. For this demo we only need <code>yarpserver</code> (<code>yarprun</code>s are not necessary)		* Make sure that basic YARP components are running: [[#Switching on the robot\|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]. For this demo we only need <code>yarpserver</code> (<code>yarprun</code>s are not necessary)
	* Make sure that iCubStartup ([[#~~robotInterface~~\|~~robotInterface~~]]) is running		* Make sure that iCubStartup ([[#yarprobotinterface\|yarprobotinterface]]) is running
	* open the '''Yoga''' panel in the yarpmanager GUI; click the Run Application button		* open the '''Yoga''' panel in the yarpmanager GUI; click the Run Application button

	[[Category:Vislab]]		[[Category:Vislab]]

Giovanni Saponaro: /* Starting YARP components */ update

2020-02-14T18:25:24Z

Starting YARP components: update

← Older revision		Revision as of 18:25, 14 February 2020
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	== Starting YARP components ==		== Starting YARP components ==

	* Click on the '''~~cluster_manager~~.sh''' icon on the desktop and select 'Run in Terminal' (or 'Run' if you want to suppress the optional debug information terminal)		* Click on the '''yarpmanager.sh''' icon on the desktop and select 'Run in Terminal' (or 'Run' if you want to suppress the optional debug information terminal)
	~~[[Image:Cluster_mgr-run_in_terminal.png]]~~		* You will see a window divided in two parts: Cluster Management and Nodes
	* You will see ~~the following~~ window, divided in two ~~main components~~: ~~<code>yarpserver</code>~~ and ~~<code>yarprun</code>s (the former is a global, single-instance nameserver; the latter are various instances of network command listeners, one per each machine involved in the demos)~~		* In the Cluster part, click on the green 'Run yarpserver' play button. The light above the 'Stop' button will become green.
	~~[[Image:Cluster_mgr.png]]~~		* In the Nodes part, choose all the machines in the 'Select' column, then click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light.
	* In the ~~yarpserver panel~~, click on the 'Run' button. The light above the 'Stop' button will become green.
	* In the ~~yarprun panel~~, choose all the machines in the 'Select' column, then click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light.

	== Other components ==		== Other components ==

Giovanni Saponaro: /* Software side */ rephrase

2020-02-14T17:50:30Z

Software side: rephrase

← Older revision		Revision as of 17:50, 14 February 2020
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	=== Software side ===		=== Software side ===

	* Check that the ~~Cluster~~ Manager window is shown, if not run '''~~cluster_manager~~.sh''' from the laptop desktop icon and [[#Starting YARP components\|start the needed YARP components (click here for detailed instructions)]]. The summary is:		* Check that the YARP Module Manager (yarpmanager) window is shown, if not run '''yarpmanager.sh''' from the laptop desktop icon and [[#Starting YARP components\|start the needed YARP components (click here for detailed instructions)]]. The summary is:
	** First, launch <code>yarpserver</code> with the 'Run' button in the ~~upper Nameserver panel~~		** First, launch <code>yarpserver</code> with the 'Run' button in the Cluster tab
	** Then, if your application employs machines other than the laptop itself, launch the necessary <code>yarprun</code> listeners in the ~~lower~~ panel: '''icub-laptop, pc104, icubbrain1, icubbrain2, icub-cuda'''		** Then, if your application employs machines other than the laptop itself, launch the necessary <code>yarprun</code> listeners in the Entities panel: '''icub-laptop, pc104, icubbrain1, icubbrain2, icub-cuda'''
	* ~~Launch the '''yarpmanager.sh''' icon, which will open the manager~~ GUI ~~with~~ all the necessary iCub applications		* The Entities tab is a GUI that manages all the necessary iCub applications
	** In the iCubStartup ~~panel~~, launch all modules, including ~~robotInterface~~ which is the most important one that will calibrate the robot. Just in case, make sure that the iCub is vertical before launching this software, otherwise the robot will fall down (dangerous)		** In the iCubStartup application, launch all modules, including yarprobotinterface which is the most important one that will calibrate the robot. Just in case, make sure that the iCub is vertical before launching this software, otherwise the robot will fall down (dangerous)
	** Other ~~panels~~: depending on the desired application or demo, you will need to start other necessary drivers such as [[#Cameras \| cameras]] or [[#Facial expression driver \|facial expressions]]		** Other applications: depending on the desired application or demo, you will need to start other necessary drivers such as [[#Cameras \| cameras]] or [[#Facial expression driver \|facial expressions]]

	== Shutting off the robot ==		== Shutting off the robot ==

Giovanni Saponaro: /* Hardware side */ minor rephrasing

2020-02-14T17:46:51Z

Hardware side: minor rephrasing

← Older revision		Revision as of 17:46, 14 February 2020
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	* Turn on the Xantrex power supply units; make sure the voltage values are correct (see [[iCub_instructions#Setup]])		* Turn on the Xantrex power supply units; make sure the voltage values are correct (see [[iCub_instructions#Setup]])
	* Check that the '''red emergency button is unlocked'''		* Check that the '''red emergency button is unlocked'''
	* Turn on the green switches ~~behind~~ Chico		* Turn on the green switches next to Chico
	** Safety hint: first turn on the [[pc104]] CPU switch, wait for the CPU to be on, and only then switch the motors on		** Safety hint: first turn on the [[pc104]] CPU switch, wait for the CPU to be on, and only then switch the motors on
	** Another safety hint, after turning on motors: wait for the four purple lights on each board to turn off and become two blue lights – at this point you can continue to the next steps		** Another safety hint, after turning on motors: wait for the four purple lights on each board to turn off and become two blue lights – at this point you can continue to the next steps

Giovanni Saponaro: /* Starting YARP components */ simplify

2015-12-03T16:56:30Z

Starting YARP components: simplify

← Older revision		Revision as of 16:56, 3 December 2015
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	[[Image:Cluster_mgr.png]]		[[Image:Cluster_mgr.png]]
	* In the yarpserver panel, click on the 'Run' button. The light above the 'Stop' button will become green.		* In the yarpserver panel, click on the 'Run' button. The light above the 'Stop' button will become green.
	* In the yarprun panel, choose all the machines in the 'Select' column ~~(icub-laptop, pc104, icubbrain1, icubbrain2, icub-cuda, etc.)~~, then click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light.		* In the yarprun panel, choose all the machines in the 'Select' column, then click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light.

	== Other components ==		== Other components ==

Giovanni Saponaro: /* Software side */ robotInterface

2015-12-03T16:55:24Z

Software side: robotInterface

← Older revision		Revision as of 16:55, 3 December 2015
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	** Then, if your application employs machines other than the laptop itself, launch the necessary <code>yarprun</code> listeners in the lower panel: '''icub-laptop, pc104, icubbrain1, icubbrain2, icub-cuda'''		** Then, if your application employs machines other than the laptop itself, launch the necessary <code>yarprun</code> listeners in the lower panel: '''icub-laptop, pc104, icubbrain1, icubbrain2, icub-cuda'''
	* Launch the '''yarpmanager.sh''' icon, which will open the manager GUI with all the necessary iCub applications		* Launch the '''yarpmanager.sh''' icon, which will open the manager GUI with all the necessary iCub applications
	** In the iCubStartup panel, launch all modules. Just in case, make sure that the iCub is vertical before launching this software, otherwise the robot will fall down (dangerous)		** In the iCubStartup panel, launch all modules, including robotInterface which is the most important one that will calibrate the robot. Just in case, make sure that the iCub is vertical before launching this software, otherwise the robot will fall down (dangerous)
	** Other panels: depending on the desired application or demo, you will need to start other necessary drivers such as [[#Cameras \| cameras]] or [[#Facial expression driver \|facial expressions]]		** Other panels: depending on the desired application or demo, you will need to start other necessary drivers such as [[#Cameras \| cameras]] or [[#Facial expression driver \|facial expressions]]

Giovanni Saponaro: /* Software side */

2015-12-03T16:54:08Z

Software side

← Older revision		Revision as of 16:54, 3 December 2015
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	* Check that the Cluster Manager window is shown, if not run '''cluster_manager.sh''' from the laptop desktop icon and [[#Starting YARP components\|start the needed YARP components (click here for detailed instructions)]]. The summary is:		* Check that the Cluster Manager window is shown, if not run '''cluster_manager.sh''' from the laptop desktop icon and [[#Starting YARP components\|start the needed YARP components (click here for detailed instructions)]]. The summary is:
	** First, ~~always~~ launch <code>yarpserver</code> with the 'Run' button in the upper Nameserver panel		** First, launch <code>yarpserver</code> with the 'Run' button in the upper Nameserver panel
	** Then, if your application employs machines other than the laptop itself, launch the necessary <code>yarprun</code> listeners in the lower panel: '''icub-laptop, pc104, icubbrain1, icubbrain2, icub-cuda'''		** Then, if your application employs machines other than the laptop itself, launch the necessary <code>yarprun</code> listeners in the lower panel: '''icub-laptop, pc104, icubbrain1, icubbrain2, icub-cuda'''
	* Launch the '''yarpmanager.sh''' icon, which will open the manager GUI with all the necessary iCub applications		* Launch the '''yarpmanager.sh''' icon, which will open the manager GUI with all the necessary iCub applications

Giovanni Saponaro: /* Software side */

2015-12-03T10:14:33Z

Software side

← Older revision		Revision as of 10:14, 3 December 2015
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	=== Software side ===		=== Software side ===

	* Stop your demo software and the cameras with the GUI; do not stop robotInterface (in the iCubStartup panel) nor <code>yarpserver</code> (in the Cluster Manager window) ~~yet~~		* Stop your demo software and the cameras with the GUI; do not stop robotInterface (in the iCubStartup panel) nor <code>yarpserver</code> (in the Cluster Manager window)
	* In the iCubStartup panel of the GUI, stop all modules, including robotInterface. Chico will thus move its limbs and head to a "parking" position. (If things don't quit gracefully, stop or kill the process more times and be ready to hold Chico's chest since the head may fall to the front.)		* In the iCubStartup panel of the GUI, stop all modules, including robotInterface. Chico will thus move its limbs and head to a "parking" position. (If things don't quit gracefully, stop or kill the process more times and be ready to hold Chico's chest since the head may fall to the front.)
	* In the Cluster Manager window, stop the instances of <code>yarprun</code> (lower panel). It is not necessary to stop <code>yarpserver</code> (upper panel), we usually keep it on		* In the Cluster Manager window, stop the instances of <code>yarprun</code> (lower panel). It is not necessary to stop <code>yarpserver</code> (upper panel), we usually keep it on

Giovanni Saponaro: /* Software side */

2015-12-03T10:13:54Z

Software side

← Older revision		Revision as of 10:13, 3 December 2015
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	* Launch the '''yarpmanager.sh''' icon, which will open the manager GUI with all the necessary iCub applications		* Launch the '''yarpmanager.sh''' icon, which will open the manager GUI with all the necessary iCub applications
	** In the iCubStartup panel, launch all modules. Just in case, make sure that the iCub is vertical before launching this software, otherwise the robot will fall down (dangerous)		** In the iCubStartup panel, launch all modules. Just in case, make sure that the iCub is vertical before launching this software, otherwise the robot will fall down (dangerous)
	** Other panels: depending on ~~which~~ demo ~~you want to execute~~, you will need to start other necessary drivers such as [[#Cameras \| cameras]] or [[#Facial expression driver \|facial expressions]]		** Other panels: depending on the desired application or demo, you will need to start other necessary drivers such as [[#Cameras \| cameras]] or [[#Facial expression driver \|facial expressions]]

	== Shutting off the robot ==		== Shutting off the robot ==