Chico: Difference between revisions

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When a joint/encoder breaks, refer to [[Chico joint calibration]].
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Warning: this section is obsolete.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


[[Category:Robots]]
[[Category:Robots]]
[[Category:Vislab]]
[[Category:Vislab]]

Revision as of 18:13, 13 November 2009

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.