Pc104

See pc104/Archive for information about previous setups.

The pc104 CPU board is located into the iCub's head and it runs a full (read/write) Debian distribution that boots from a USB pen drive.

Booting and mounting

During boot, the pc104 does two things: 1) it loads a Debian Live USB Flash Drive with Persistence; 2) it mounts remote NFS shares from the iCub laptop.

USB Flash Drive

With respect to the standard image provided by the official iCub support, our configuration differs in the following files:

.bashrc_iCub
/etc/network/interfaces
/etc/hosts
/etc/fstab
/etc/rc.iCub.d/mounts.list
/etc/rc.iCub.d/S90_mount-remote-fs.sh
/etc/timezone
/etc/resolv.conf
/etc/udev/rules.d/70-persistent-net.rules
/etc/default/ntpdate

NFS shares

The mounted volume contains the yarp and iCub repositories (both code and binaries) and configuration files. The binaries are located in the respective build-pc104 subdirectories.

Software

• Dependencies for 640x480@30Hz images with Bayer encoding

sudo apt install libraw1394-dev libdc1394-22-dev

• yarp CMake configuration

CMAKE_BUILD_TYPE Release
CREATE_DEVICE_LIBRARY_MODULES ON
YARP_COMPILE_libYARP_MATH ON
ENABLE_yarpmod_portaudio ON
ENABLE_yarpmod_serialport ON

CREATE_OPTIONAL_CARRIERS
ENABLE_yarpcar_bayer ON
ENABLE_yarpcar_mjpeg ON

• icub-main CMake configuration

CMAKE_BUILD_TYPE Release
ENABLE_icubmod_canBusAnalogSensor ON
ENABLE_icubmod_canBusSkin ON
ENABLE_icubmod_canBusVirtualAnalogSensor ON
ENABLE_icubmod_canmotioncontrol ON
ENABLE_icubmod_cartesiancontrollerclient ON
ENABLE_icubmod_cartesiancontrollerserver ON
ENABLE_icubmod_cfw2can ON
ENABLE_icubmod_dragonfly2 ON
ENABLE_icubmod_gazecontrollerclient ON
ENABLE_icubmod_parametricCalibrator ON
ENABLE_icubmod_sharedcan ON
ENABLE_icubmod_skinWrapper ON
ENABLE_icubmod_xsensmtx ON

• yarp configuration

1. yarp namespace /icub
2. yarp conf 10.10.1.53 10000 (yarpserver runs on iCub laptop)

The last command writes the information of the YARP server located on iCub laptop into the file specified by yarp conf, which is typically /home/icub/.config/yarp/_icub.conf. Warning: that command overwrites previous content.

• tuning and optimization

1. make sure that CMAKE_BUILD_TYPE=Release for both yarp and icub-main
2. cat /proc/sys/net/core/rmem_max // should return 8388608

Updating

In addition to yarp and icub-main, icub-firmware-shared must also be updated (these are scripts, not the firmware itself). In order to update the firmware, use the binaries in icub-firmware-build and follow the official iCub manual.

See also

• The Linux on the pc104
• ICub PC104 Linux Image - Detailed info
• Compilation on the pc104
• Generic iCub machine installation instructions
• CFW002 PC104 linux driver