Chico

Chico Instructions

Preliminaries

ICub has a PC104 with a flash disk configured to 10.10.1.50 It mounts the repositories that are on the laptop 10.10.1.51 (icub icub) There is a support machine called chico2 (10.10.1.51) for running the yarp server, launching scripts and visualization.

The 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 commitable (DO NOT CHANGE)

Everything running with /icub namespace

Running a demo

1- Turn on the laptop

       run the yarp server
       "yarp server"
       run the yarp run server
       "yarp run --server /icubsrv"
       optional: connect an external monitor and run ./home/icub/dualScreen

2- Turn on the robot

       it will mount the repository
       set the namespace to /icub
       "yarp namespace /icub"
       make sure the name server is visible
       "yarp where" should detect 10.10.1.51
       run the yarp run server
       "yarp run --server /pc104"

3- (Skip this fo 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

       cd /usr/local/src/robot/iCub/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"
       ./cameras stop

5- Run iCubInterface (hardware except cameras)

       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 demo

       iCubDemoY3 --config /app/demoy3/fullBody.txt