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| In this page we will explain how to take good care of Chico during the [http://www.innovationdays.eu Innovation Days 2009] exhibition that takes place in the Feira Internacional de Lisboa from 18 to 20 June 2009.
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| == Setup ==
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| The demo inventory consists of:
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| * '''Chico''' the robot (duh), which has a [[pc104]] CPU (10.10.1.50, username icub) in its head.
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| * '''icubsrv''' Dell XPS laptop: 10.10.1.51, username icub. No need to use or modify this machine, it contains a hard disk drive that gets mounted by Chico's read-only pc104 CPU at boot time. Don't worry about this machine, just keep it switched on.
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| * '''[[Chico3 laptop machine configuration|chico3]]''' Tsunami 17" laptop, 10.10.1.53, username icub. We will use this machine for YARP and all demo management.
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| Below Chico's table, looking from bottom to top, we have:
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| * APC UPS (Uninterruptible power supply)
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| * Xantrex XFR 60-46 power supply unit (the thick one) for motors
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| * Xantrex XFR 35-35 power supply unit (the thin one) for [[pc104]] and other motors
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| * '''[[iCubBrain server configuration|iCubBrain]]''' chassis containing two servers to be used for computation: '''icubbrain1''' (10.10.1.41, usual username) and '''icubbrain2''' (10.10.1.42)
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| == Starting YARP components ==
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| Launch the graphical '''[[Cluster Management in VisLab|Cluster Manager]]''' application on the chico3 laptop, by typing this in a terminal:
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| cd $ICUB_ROOT/app/default/scripts
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| ./icub-cluster.py $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/vislab-cluster.xml
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| === yarpserver ===
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| Click 'Run' to start yarpserver on chico3. The light above the 'Stop' button will become green.
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| === yarprun ===
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| Now we are ready to start 'yarprun' on all the machines we need (necessary for the distributed YARP modules that make up a demo to communicate with one another). In the 'Select' column, make sure that only the following machines are selected with a red light:
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| * chico3
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| * pc104
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| * icubbrain1
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| Click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light. The [[pc104]] can be slow and, sometimes, unpredictable.
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| Do all the selected machines have their 'On/Off' switch green by now? If so, proceed to the next step. If not, click on 'Check All' and see if we have a green light from the [[pc104]] now. You should see something like this:
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| [[Image:Successful_cluster_mgr.png]]
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| == Starting cameras ==
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| Open a chico3 console and type:
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| cd $ICUB_ROOT/app/default/scripts
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| ./cameras start
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| Sometimes we need to manually establish these connections in order for images to display:
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| yarp connect /icub/cam/right /icub/view/right
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| yarp connect /icub/cam/left /icub/view/left
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| To turn off the cameras:
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| ./cameras stop
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| To change the size of images:
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| nano -w $ICUB_ROOT/app/default/scripts/config.sh
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| == Running a demo ==
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| * Turn on icubsrv (Dell XPS laptop)
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| * Turn on chico3 (Ts" laptop), which we will use to actually control the demos
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| * Turn on the Chico's Xantrex power supply units
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| * Turn on the green switches behind Chico
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| * [http://mediawiki.isr.ist.utl.pt/wiki/Innovation_Days_2009#Starting_YARP_components Start the needed YARP components] with the GUI: one instance of yarpserver and all necessary instances of yarprun, one per machine
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| == Stopping a demo ==
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| [[Category:Vislab]]
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