Pc104

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

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.

Software

• Dependencies for 640x480@30Hz images with Bayer encoding

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

• yarp CMake configuration

CMAKE_BUILD_TYPE Release
CREATE_DEVICE_LIBRARY_MODULES ON
CREATE_LIB_MATH ON
ENABLE_yarpmod_portaudio ON
ENABLE_yarpmod_serial ON
ENABLE_yarpmod_serialport ON

CREATE_OPTIONAL_CARRIERS
ENABLE_yarpcar_bayer_carrier

• icub-main CMake configuration using robotInterface

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_dragonfly2raw ON
// gazecontrollerclient is OFF
ENABLE_icubmod_icubarmcalibrator ON
ENABLE_icubmod_icubhandcalibrator ON
ENABLE_icubmod_icublegscalibrator ON
ENABLE_icubmod_logpolarclient ON
ENABLE_icubmod_logpolargrabber ON
ENABLE_icubmod_parametricCalibrator ON
ENABLE_icubmod_sharedcan ON
ENABLE_icubmod_skinWrapper ON
ENABLE_icubmod_xsensmtx ON

• Final configuration

1. yarp namespace /icub
2. in order to find the yarpserver running on iCub laptop, write 10.10.1.53 10000 into the file specified by yarp conf

See also

• The Linux on the pc104
• ICub PC104 Linux Image - Detailed info
• Compilation on the pc104
• Generic iCub machine installation instructions
• CFW002 PC104 linux driver