Pc104: Difference between revisions

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(→‎Software: icub-main settings updates)
m (→‎Software: CREATE_LIB_MATH -> YARP_COMPILE_libYARP_MATH)
 
(9 intermediate revisions by the same user not shown)
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= Booting and mounting =
= Booting and mounting =


After booting, the pc104 mounts a remote disk from the [[iCub laptop]] using NFS. The mounted volume contains the yarp and iCub repositories, both code and binaries. The binaries are located in the respective '''build-pc104''' subdirectories.
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 =
= Software =
Line 11: Line 30:
* Dependencies for 640x480@30Hz images with Bayer encoding
* Dependencies for 640x480@30Hz images with Bayer encoding


  sudo apt-get install libraw1394-dev libdc1394-22-dev
  sudo apt install libraw1394-dev libdc1394-22-dev


* yarp CMake configuration
* yarp CMake configuration
Line 17: Line 36:
  CMAKE_BUILD_TYPE Release
  CMAKE_BUILD_TYPE Release
  CREATE_DEVICE_LIBRARY_MODULES ON
  CREATE_DEVICE_LIBRARY_MODULES ON
  CREATE_LIB_MATH ON
  YARP_COMPILE_libYARP_MATH ON
  ENABLE_yarpmod_portaudio ON
  ENABLE_yarpmod_portaudio ON
ENABLE_yarpmod_serial ON
  ENABLE_yarpmod_serialport ON
  ENABLE_yarpmod_serialport ON


  CREATE_OPTIONAL_CARRIERS
  CREATE_OPTIONAL_CARRIERS
  ENABLE_yarpcar_bayer_carrier
  ENABLE_yarpcar_bayer ON
ENABLE_yarpcar_mjpeg ON


* icub-main CMake configuration using yarprobotinterface
* icub-main CMake configuration


  CMAKE_BUILD_TYPE Release
  CMAKE_BUILD_TYPE Release
Line 36: Line 55:
  ENABLE_icubmod_cfw2can ON
  ENABLE_icubmod_cfw2can ON
  ENABLE_icubmod_dragonfly2 ON
  ENABLE_icubmod_dragonfly2 ON
ENABLE_icubmod_dragonfly2raw ON
  ENABLE_icubmod_gazecontrollerclient ON
  ENABLE_icubmod_gazecontrollerclient ON
ENABLE_icubmod_icubarmcalibrator ON
ENABLE_icubmod_icubhandcalibrator ON
ENABLE_icubmod_icublegscalibrator ON
  ENABLE_icubmod_parametricCalibrator ON
  ENABLE_icubmod_parametricCalibrator ON
  ENABLE_icubmod_sharedcan ON
  ENABLE_icubmod_sharedcan ON
  ENABLE_icubmod_skinWrapper ON
  ENABLE_icubmod_skinWrapper ON
  ENABLE_icubmod_xsensmtx ON
  ENABLE_icubmod_xsensmtx ON
Optionally:
ENABLE_icubmod_logpolarclient ON
ENABLE_icubmod_logpolargrabber ON


* yarp configuration
* yarp configuration

Latest revision as of 16:08, 28 July 2019

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

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