ICub machines configuration - Revision history

Giovanni Saponaro: /* YARP and iCub */ CREATE_GUIS -> YARP_COMPILE_GUIS, CREATE_LIB_MATH -> YARP_COMPILE_libYARP_MATH

2019-07-28T16:06:49Z

YARP and iCub: CREATE_GUIS -> YARP_COMPILE_GUIS, CREATE_LIB_MATH -> YARP_COMPILE_libYARP_MATH

← Older revision		Revision as of 16:06, 28 July 2019
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	* yarp CMake configuration		* yarp CMake configuration
	CMAKE_BUILD_TYPE Release		CMAKE_BUILD_TYPE Release
	~~CREATE_GUIS~~		YARP_COMPILE_GUIS
	~~CREATE_LIB_MATH~~		YARP_COMPILE_libYARP_MATH

	// to enable 640x480@30Hz images with Bayer encoding		// to enable 640x480@30Hz images with Bayer encoding

Giovanni Saponaro: /* SiftGPU */

2019-07-06T19:36:05Z

SiftGPU

← Older revision		Revision as of 19:36, 6 July 2019
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	2247 sift matches were found;		2247 sift matches were found;

	* define <code>export SIFTGPU_DIR=~/SiftGPU</code> or similar in your iCub bashrc file, so that libsiftgpu.so is found by ~~IOL~~ modules		* define <code>export SIFTGPU_DIR=~/SiftGPU</code> or similar in your iCub bashrc file, so that libsiftgpu.so is found by GPU accelerated modules

	== himrep ==		== himrep ==

Giovanni Saponaro: /* CUDA Toolkit, SDK and Examples */ update CUDA instructions

2019-06-30T21:12:52Z

CUDA Toolkit, SDK and Examples: update CUDA instructions

← Older revision		Revision as of 21:12, 30 June 2019
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	* stop X servers: <code>sudo service lightdm stop</code> (or <code>gdm stop</code> depending on configuration)		* stop X servers: <code>sudo service lightdm stop</code> (or <code>gdm stop</code> depending on configuration)
	* download and install NVIDIA CUDA Toolkit from ~~http~~://~~docs~~.nvidia.com/cuda (~~not from Ubuntu packages~~)		* download and install NVIDIA CUDA Toolkit from https://developer.nvidia.com/cuda-downloads
			* preferably, use Installer Type: runfile (local). Alternatively, deb (local)
	* if you obtain the error "Toolkit: Installation Failed. Using unsupported Compiler.", use the override option, e.g., <code>./cuda_6.0.37_linux_64.run --override</code>		* if you obtain the error "Toolkit: Installation Failed. Using unsupported Compiler.", use the override option, e.g., <code>./cuda_6.0.37_linux_64.run --override</code>
	* if you obtain the error "The driver installation is unable to locate the kernel source. Please make sure that the kernel source packages are installed and set up correctly":		* if you obtain the error "The driver installation is unable to locate the kernel source. Please make sure that the kernel source packages are installed and set up correctly":

Giovanni Saponaro: /* Best practices */ add date of "IIT - How to setup and start the iCub from scratch" Google Doc

2018-12-12T12:42:22Z

Best practices: add date of "IIT - How to setup and start the iCub from scratch" Google Doc

← Older revision		Revision as of 12:42, 12 December 2018
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	* http://wiki.icub.org/wiki/Yarp-config		* http://wiki.icub.org/wiki/Yarp-config
	* http://www.yarp.it/yarp-config.html		* http://www.yarp.it/yarp-config.html
	* [https://docs.google.com/document/d/1S9m4DbrV1AJWo_E1r3F8k3ZzmhaTOWRJ9WFjXPFqVos IIT - How to setup and start the iCub from scratch]		* [https://docs.google.com/document/d/1S9m4DbrV1AJWo_E1r3F8k3ZzmhaTOWRJ9WFjXPFqVos IIT - How to setup and start the iCub from scratch] (last updated December 2016)

	== XML files ==		== XML files ==

Giovanni Saponaro: /* Disabling some robot parts */ minor rewrite

2018-12-12T12:41:32Z

Disabling some robot parts: minor rewrite

← Older revision		Revision as of 12:41, 12 December 2018
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	If the robot is not complete (or some parts need to be disabled):		If the robot is not complete (or some parts need to be disabled):

	* ~~On the~~ pc104, type <code>yarp-config robot --list</code> to look for the .ini files from where the configuration values are launched~~. These~~ are local copies of the robots-configuration repository files.		* In a pc104 shell, type <code>yarp-config robot --list</code> to look for the .ini files from where the configuration values are launched: these are local copies of the robots-configuration repository files
	* Go to the <code>INSTALLED DATA</code> directory path and then, within the corresponding robot folder (e.g., ~~iCubGenova04~~), look for the file yarprobotinterface.ini, which points to a .xml file which contains the configuration paths for all the robot parts (e.g., icub_all.xml).		* Go to the <code>INSTALLED DATA</code> directory path and then, within the corresponding robot folder (e.g., iCubLisboa01), look for the file yarprobotinterface.ini, which points to a .xml file which contains the configuration paths for all the robot parts (e.g., icub_all.xml)
	* If the local config file does not exist, there is only the canonical in the build path, ~~then~~ create a local one using yarp-config --import.		* If the local config file does not exist, there is only the canonical file in the build path: in that case, create a local one using <code>yarp-config --import</code>
	* ~~Copy~~ the .xml file ~~with~~ a descriptive name (e.g., icub_no_legs.xml) and on the copied file, comment or remove all lines that refer to .ini files of the part(s) that ~~have~~ to ~~be disabled.~~		* Make a copy of the .xml file giving it a descriptive name (e.g., icub_no_legs.xml) and, in the copied file, comment or remove all lines that refer to .ini files of the part(s) that you want to disable
	* ~~Change~~ yarprobotinterface.ini ~~too,~~ so that it ~~will point~~ to the new .xml file where the parts have been commented.		* Edit the contents of yarprobotinterface.ini so that it points to the new .xml file where the parts have been commented
	* On the ~~robot/icub Startup~~ application, modify the way that gravityCompensator and wholeBodyDynamics are launched, so that they ~~don’t~~ look for ~~leg~~ configuration files~~. For~~ the legs ~~case~~, add --no_legs to the argument list.		* In the iCubStartup application GUI or xml, modify the way that gravityCompensator and wholeBodyDynamics are launched, so that they don't look for the configuration files of the parts that have been disabled: in the legs example, just add <code>--no_legs</code> to the argument list

	= See also =		= See also =

Giovanni Saponaro: /* Disabling some robot parts */

2018-12-12T12:36:02Z

Disabling some robot parts

← Older revision		Revision as of 12:36, 12 December 2018
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	* On the pc104, type <code>yarp-config robot --list</code> to look for the .ini files from where the configuration values are launched. These are local copies of the robots-configuration repository files.		* On the pc104, type <code>yarp-config robot --list</code> to look for the .ini files from where the configuration values are launched. These are local copies of the robots-configuration repository files.
	* Go to the <code>INSTALLED DATA</code> directory path and then, within the corresponding robot folder (e.g., iCubGenova04), look for the file yarprobotinterface.ini, which points to a .xml file which contains the configuration paths for all the robot parts (eg. icub_all.xml).		* Go to the <code>INSTALLED DATA</code> directory path and then, within the corresponding robot folder (e.g., iCubGenova04), look for the file yarprobotinterface.ini, which points to a .xml file which contains the configuration paths for all the robot parts (e.g., icub_all.xml).
	* If the local config file does not exist, there is only the canonical in the build path, then create a local one using yarp-config --import.		* If the local config file does not exist, there is only the canonical in the build path, then create a local one using yarp-config --import.
	* Copy the .xml file with a descriptive name (eg icub_no_legs.xml) and on the copied file, comment or remove all lines that refer to .ini files of the part(s) that have to be disabled.		* Copy the .xml file with a descriptive name (e.g., icub_no_legs.xml) and on the copied file, comment or remove all lines that refer to .ini files of the part(s) that have to be disabled.
	* Change yarprobotinterface.ini too, so that it will point to the new .xml file where the parts have been commented.		* Change yarprobotinterface.ini too, so that it will point to the new .xml file where the parts have been commented.
	* On the robot/icub Startup application, modify the way that gravityCompensator and wholeBodyDynamics are launched, so that they don’t look for leg configuration files. For the legs case, add --no_legs to the argument list.		* On the robot/icub Startup application, modify the way that gravityCompensator and wholeBodyDynamics are launched, so that they don’t look for leg configuration files. For the legs case, add --no_legs to the argument list.

Giovanni Saponaro: /* Dependencies */ add link to yarp .travis.yml which contains the list of Ubuntu dependencies for Continuous Integration

2018-12-12T12:26:29Z

Dependencies: add link to yarp .travis.yml which contains the list of Ubuntu dependencies for Continuous Integration

← Older revision		Revision as of 12:26, 12 December 2018
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	== Dependencies ==		== Dependencies ==

	Installing the '''icub-common''' metapackage is sufficient. It is a bundle of the following packages (for more details see [http://wiki.icub.org/wiki/Linux:Installation_from_sources here] ~~and~~ [http://wiki.icub.org/wiki/Linux:_dependencies here]):		Installing the '''icub-common''' metapackage is sufficient. It is a bundle of the following packages (for more details see [http://wiki.icub.org/wiki/Linux:Installation_from_sources here], [http://wiki.icub.org/wiki/Linux:_dependencies here] and [https://github.com/robotology/yarp/blob/master/.travis.yml here]):
	sudo apt install build-essential libace-dev libedit-dev libeigen3-dev libncurses5-dev gfortran libtinyxml-dev libgraphviz-dev		sudo apt install build-essential libace-dev libedit-dev libeigen3-dev libncurses5-dev gfortran libtinyxml-dev libgraphviz-dev
	sudo apt install git-core ssh gcc g++ make cmake-curses-gui freeglut3-dev libxmu-dev libswscale-dev libavformat-dev		sudo apt install git-core ssh gcc g++ make cmake-curses-gui freeglut3-dev libxmu-dev libswscale-dev libavformat-dev

Giovanni Saponaro: /* YARP and iCub */

2018-12-05T16:41:55Z

YARP and iCub

← Older revision		Revision as of 16:41, 5 December 2018
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	// install libraw1394-dev libdc1394-22-dev then enable		// install libraw1394-dev libdc1394-22-dev then enable
	CREATE_OPTIONAL_CARRIERS		CREATE_OPTIONAL_CARRIERS
	ENABLE_yarpcar_bayer		ENABLE_yarpcar_bayer ON
	ENABLE_yarpcar_mjpeg		ENABLE_yarpcar_mjpeg ON

	* icub-main CMake configuration		* icub-main CMake configuration

Giovanni Saponaro: /* YARP and iCub */ add mjpeg carrier

2018-12-05T16:24:42Z

YARP and iCub: add mjpeg carrier

← Older revision		Revision as of 16:24, 5 December 2018
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	// install libraw1394-dev libdc1394-22-dev then enable		// install libraw1394-dev libdc1394-22-dev then enable
	CREATE_OPTIONAL_CARRIERS		CREATE_OPTIONAL_CARRIERS
	~~ENABLE_yarpcar_bayer_carrier~~		ENABLE_yarpcar_bayer
			ENABLE_yarpcar_mjpeg

	* icub-main CMake configuration		* icub-main CMake configuration

Giovanni Saponaro: /* Manual compilation */ OpenCV with CUDA support: disable cudacodec

2018-12-05T15:05:17Z

Manual compilation: OpenCV with CUDA support: disable cudacodec

← Older revision		Revision as of 15:05, 5 December 2018
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	export OpenCV_DIR=$code/OpenCV-x.y.z/build		export OpenCV_DIR=$code/OpenCV-x.y.z/build

	* on CUDA machines, in order to compile CUDA-enabled modules: create a build-cuda directory, CMake, set WITH_CUDA=ON, compile, set OpenCV_DIR to the path of OpenCV-x.y.z/build-cuda		* on CUDA machines, in order to compile CUDA-enabled modules: create a build-cuda directory, CMake, set WITH_CUDA=ON, compile, set OpenCV_DIR to the path of OpenCV-x.y.z/build-cuda. You may need to disable <code>cudacodec</code>, see also https://github.com/opencv/opencv_contrib/issues/1786

	== YARP and iCub ==		== YARP and iCub ==