ICub coding basics

Refer to RobotCub software to learn how to install, compile and update RobotCub software with Subversion (SVN). Below we will link to tutorials that are useful for people starting up with iCub and YARP coding.

General guides

Highly recommended:

• http://eris.liralab.it/wiki/Summary_of_iCub_Software_Development_Guidelines
• http://eris.liralab.it/wiki/ICub_Documentation_Guidelines
• http://eris.liralab.it/wiki/ICub_File_Organization_Guidelines

Specific tutorials

• Tutorials on motor commands and basic image processing: http://eris.liralab.it/wiki/ICub_Tutorials

Resource Finder

• http://eris.liralab.it/wiki/Resource_finder_overview
• RFModule class documentation (new version of Module class): http://eris.liralab.it/yarpdoc/d9/d26/classyarp_1_1os_1_1RFModule.html
• Using the RFModule helper class to write a program: http://eris.liralab.it/iCub/main/dox/html/icub_resource_finder_basic.html and http://eris.liralab.it/iCub/dox/main/html/icub_resource_finder_advanced.html

YARP ports

• basic: http://eris.liralab.it/yarpdoc/df/d05/note_ports.html
• advanced: http://eris.liralab.it/yarpdoc/db/dfb/port_expert.html
• Bottle class, useful for exchanging data among modules: http://eris.liralab.it/yarpdoc/d3/d3e/classyarp_1_1os_1_1Bottle.html#_details

Examples of modules

The following are good examples of modules from the iCub repository that are generally compliant with iCub configuration guidelines (RFModule class), coding standards (configuration, graceful shut-down, thread-based execution, run-time user interaction) and documentation standards:

• demoModule
• http://eris.liralab.it/wiki/The_myModule_Example (referred to at the bottom of the Summary of iCub Software Development Guidelines)

See also

• How to write a module
• Software interface: standard port names for hardware devices