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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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| == 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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| === Yoga demo ===
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| * Run iCubInterface on the [[pc104]]
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| * On any machine, type:
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| iCubDemoY3 --config /app/demoy3/fullBody.txt
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| === Facial expressions ===
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| * Start the facial expression driver on the [[pc104]]:
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| cd $ICUB_DIR/app/faceExpressions/scripts
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| ./emotions.sh $ICUB_DIR/app/iCubLisboa01/conf
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| * Start the facial expression demo by typing one of these two commands on any machine:
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| $ICUB_DIR/app/faceExpressions/scripts/cycle.sh
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| or
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| yarp rpc /icub/face/emotions/in
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| set all hap // full face happy
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| set all sad // full face sad
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| set all ang // full face angry
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| set all neu // full face neutral
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| set mou sur // mouth surprised
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| set eli evi // eyelids evil
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| set leb shy // left eyebrow shy
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| set reb cun // right eyebrow cunning
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| set all ta1 // mouth talking position 1 (mouth closed)
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| set all ta2 // mouth talking position 2 (mouth open)
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| === Ball following ===
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| This demo uses the left eye and the right arm of Chico. Assumption: left eye is running at a resolution of 320x240 pixels.
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| * Make sure cameras are running
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| * Make sure iCubInterface is running
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| * As icub@icubbrain1 do this:
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| ** Image rectifier
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| cd 0.icub_3D_ball_tracker
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| ./0.LEFT_320x240_image_rectifier.sh
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| ** Set left camera colour parameters and run tracker [ON icubbrain2?]
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| cd 0.icub_3D_ball_tracker
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| ./1.LEFT320x240.iCub_set_parameters_of_framegrabber_REALISTIC.sh
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| ./2.execute_the_tracker.sh
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| * Start a viewer on chico3
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| yarpview /viewer
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| * Run expression module on icubbrain1 [CHECK THIS]
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| cd 0.icub_3D_ball_tracker
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| ./3.execute_trackerExpressions.sh
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| * Run arm inverse kinematics module on icubbrain1
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| cd iCub/bin
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| ./iKinArmCtrl --onlyXYZ
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| * Connect all ports from icubbrain1. Careful: the robot will start moving after this step!
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| cd 0.icub_3D_ball_tracker
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| ./4.LEFT.iCub_connect_ports.sh
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| ./6.connect_LeftEyeToRoot.sh
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| * [OPTIONAL] Read the 3D position of the ball in the root reference frame (from any machine)
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| yarp read ... /icub/LeftEyeToRoot/ballPositionOut
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| === SIFT Object Detection and Tracking ===
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| === Attention system ===
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| [[Category:Vislab]]
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