Chico

Preliminaries

• the iCub has a PC104 with a flash disk configured to 10.10.1.50
• it mounts the repositories that are on the icubsrv Dell XPS laptop (10.10.1.51, username icub)
• there is a visualization support machine, the black Tsunami laptop chico3 (10.10.1.53) to be used for demos.

The icubsrv laptop has 2 repositories:

• /export/code_64 for the laptop (compiled for 32bit)
• /export/code_pc104 for the robot (compiled for 64bit)

They are anonymous, so changes are not committable (DO NOT CHANGE)

Everything running with /icub namespace

Maintenance

Due to a CMake bug, whenever you compile something that features icubmoddev (the successor to yarpdev), you need to run CMake configure once; exit; without deleting the cache, run CMake configure again and proceed. So far, this is relevant for the pc104 as well as for machines that have to run other icubmoddev instances, e.g., a server running iKinArmCtrl.

When a joint/encoder breaks, refer to Chico joint calibration.

Running a demo

Warning: this section is obsolete. Refer to iCub demos instead.

1 - Turn on chico2

       set the namespace to /icub
       "yarp namespace /icub"

       run the yarp server (note that "yarpserver" is just one word. This way Cluster Manager can kill it)
       "yarpserver"

       run the yarp run server
       "yarp run --server /chico2"
    

2 - Turn on the laptop

       not needed
       set the namespace to /icub
       "yarp namespace /icub"

       not needed
       make sure the name server is visible
       "yarp where" should detect the name server (10.10.1.???)

       not needed
       run the yarp run server
       "yarp run --server /icubsrv"
     

2- Turn on the robot (it will mount the repository that is stored on the laptop)

       switch on the power supply units (grey boxes under the table)

       switch on the cpu and motors of the iCub (green switches behind the iCub)

       not needed
       log in to pc104
       ssh icub@10.10.1.50

       not needed
       set the namespace to /icub
       "yarp namespace /icub"

       not needed
       make sure the name server is visible
       "yarp where" should detect the name server (10.10.1.???)

       not needed
       run the yarp run server
       "yarp run --server /pc104"

       make sure "./yarp run --server /pc104" is running on pc104 and that "/pc104" is seen by the yarp server (by doing a "yarp name list").
       if is not, "killall yarp" on pc104 and "./yarp run --server /pc104"

3- (Skip this for now) Start yarp run

       cd /iCub/app/default/scripts/
       ./icub-cluster.sh run
       ./icub-cluster.sh check
       there must be 3 ok messages

       if some problem
       ./icub-cluster.sh check
       ./icub-cluster.sh stop
       killall yarp

       killall yarp on pc104

       ./icub-cluster.sh run

4- turn on cameras

       On chico2 do:

       cd $ICUB_DIR/app/default/scripts
       ./cameras start

       sometimes connections must be established manually
       "yarp connect /icub/cam/right /icub/view/right"
       "yarp connect /icub/cam/left /icub/view/left"

       To turn off the cameras do:
       ./cameras stop

       To change the size of the images edit file:
       $ICUB_DIR/app/default/scripts/config.sh

5- Run iCubInterface (hardware except cameras)

       UNLOCK THE RED BUTTON SWITCH
       open a pc104 console
       iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubSafe.ini
       wait for all boards to answer ( < 1 min )
       control^C to cancel

6- Run YOGA demo

       on pc104 or chico2:
       iCubDemoY3 --config /app/demoy3/fullBody.txt

7- Start facial expressions driver

       Open a pc104 console:
       cd $ICUB_DIR/app/faceExpressions/scripts
       ./emotions.sh $ICUB_DIR/app/iCubLisboa01/conf

8 - Start facial expresions demo

       In any machine:
       $ICUB_DIR/app/faceExpressions/scripts/cycle.sh

              or

       yarp rpc /icub/face/emotions/in
       set all hap // full face happy
       set all sad // full face sad
       set all ang // full face angry
       set all neu // full face neutral
       set mou sur // mouth surprised
       set eli evi // eyelids evil
       set leb shy // left eyebrow shy
       set reb cun // right eyebrow cunning
       set all ta1 // mouth talking position 1 (mouth closed)
       set all ta2 // mouth talking position 2 (mouth open)

9 - Run the ball following demo

       ballFollowingDemo
  

10 - Run the SIFT Object detection and tracking demo

      In any machine:
      $ICUB_DIR/app/iCubLisboa01/scripts/controlGazeManual.sh
      $ICUB_DIR/app/iCubLisboa01/scripts/attentionObjects/noEgoSetup/CalibBothStart.sh

      In any other machine (requires lots of processing power):
      $ICUB_DIR/app/iCubLisboa01/scripts/attentionObjects/noEgoSetup/startSiftObjectRepresentation.sh 

      To change configuration:
      $ICUB_DIR/app/iCubLisboa01/conf/icubEyes.ini