ICub instructions

Setup

The demo inventory consists of:

machine	notes	IP address, username
Chico the robot (duh)	has a pc104 CPU in its head	10.10.1.50, icub
icubsrv Dell XPS laptop	don't worry about this machine, just keep it switched on. It contains a hard disk that gets mounted by Chico's read-only CPU at boot time	10.10.1.51, icub
chico3 Tsunami 17" laptop	we will use this machine for YARP and all demo management	10.10.1.53, icub

Below Chico's table, from top to bottom we have:

what	notes	IP address, username
iCubBrain chassis	contains two servers used for computation	10.10.1.41 (icubbrain1), 10.10.1.42 (icubbrain2), icub
Xantrex XFR 35-35	thin power supply unit, to power pc104 and some motors	-
Xantrex XFR 60-46	thick power supply unit, to power most motors	-
APC UPS	uninterruptible power supply	-

Switching on the robot

• Check that the UPS is on
• Turn on icubsrv (Dell XPS laptop)
• Turn on chico3 (Tsunami 17" laptop), which we will use to actually control the demos
• Turn on the Xantrex power supply units
• Turn on the green switches behind Chico
  • Safety hint: first turn on the pc104 CPU switch, wait for it to be alive and only then switch the motors on
  • Another safety hint: wait for the four purple lights on each board to turn off and become two blue lights – at this pointy you can start iCubInterface
• Start the needed YARP components with the GUI: one instance of yarpserver and all necessary instances of yarprun, one per machine
• Depending on which demo you want to execute, you will probably need to start iCubInterface and the cameras (this is explained below, in every demo subsection)
• Depending on your demo, you might need to power up icubbrain1 (left half of server chassis) and/or icubbrain2 (right half)

Starting YARP components

Launch the graphical Cluster Manager application on the chico3 laptop, by typing this in a terminal:

  cd $ICUB_ROOT/app/default/scripts
  ./icub-cluster.py $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/vislab-cluster.xml

yarpserver

Click 'Run' to start yarpserver on chico3. The light above the 'Stop' button will become green.

yarprun

Now we are ready to start 'yarprun' on all the machines we need (necessary for several YARP modules distributed on different machines to communicate with one another). In the 'Select' column, make sure that only the following machines are selected with a red light:

• chico3
• pc104
• icubbrain1

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 (if it doesn't find the yarpserver, you will need to write the following line into yarp conf: 10.10.1.53 40000).

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:

Other components

Cameras

Open a chico3 console and type:

  cd $ICUB_ROOT/app/default/scripts
  ./manager.py $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/cameras_320x240.xml

Alternatively, the second line can use cameras_640x480.xml if you need a larger resolution.

iCubInterface

This program controls all of Chico hardware (except cameras). In practice, all demos assume that iCubInterface is already running in the background.

To start iCubInterface, unlock the red button switch and type this on a pc104 console:

  iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubSafe.ini

and wait for all boards to answer (which takes around 1 minute); after that, you are ready to move on.

To stop iCubInterface, type ctrl+c once. Chico will thus move its limbs and head to a "parking" position. (If things don't quit gracefully, hit ctrl+c more times and be ready to hold Chico's forehead since the head may fall to the front.)

Shutting off the robot

• Stop your demo and the cameras with the GUI
• Go to the pc104 iCubInterface shell windows and stop the program with ctrl+c, just once. Warning: the robot will move to a relax position now! If iCubInterface does not quit gracefully, type ctrl+c but pay attention, be ready to hold the robot so to prevent it from falling to its front
• Stop yarpserver and the yarpruns with the Cluster Manager GUI
• Turn off the two green switches. If iCubInterface was not killed properly, be ready to hold the robot in the moment when you turn off the 'motors' switch
• Turn off the Xantrex power supply units
• Turn off chico3 (Tsunami 17" laptop)
• If necessary, turn off icubsrv (Dell XPS laptop) and the UPS