Pc104

See pc104/Archive for old information.

The pc104 CPU board is located into the iCub's head and it runs a full Debian distribution that boots from a USB pen drive.

Booting and Mounting

After booting, the pc104 mounts a part of the hard-disk of icubsrv (the Dell XPS laptop, IP address 10.10.1.51) which contains the yarp2 and iCub repositories.

Repositories on icubsrv laptop

Note that the icubsrv laptop has 2 repositories:

• /exports/code-64 for the laptop itself (compiled for 64bit, rarely used)
• /exports/code-pc104 for pc104 (compiled for 32bit, this is the one that is actually used)

TODO: verify if the following instructions are still current

Therefore, if you want to update the repository used by pc104, you need to:

1. open a pc104 shell window
2. open an icubsrv shell window
3. on icubsrv: svn update /exports/code-pc104/yarp2 and /exports/code-pc104/iCub (for now we need to do this from icubsrv because the version of svn on pc104 is too old)
4. on pc104: cmake, make in $YARP_DIR (the files are physically on icubsrv, but we need to issue the command from pc104 to obtain 32bit binaries)
5. on pc104: cmake, make, make install_applications in $ICUB_DIR (the files are physically on icubsrv, but we need to issue the command from pc104 to obtain 32bit binaries)

Software

• Custom yarp2 configuration

 CMAKE_BUILD_TYPE Release
 CREATE_DEVICE_LIBRARY_MODULES ON
 CREATE_GUIS ON // probably not needed
 CREATE_LIB_MATH ON
 CREATE_YARPSERVER3 ON
 ENABLE_yarpmod_portaudio ON
 ENABLE_yarpmod_serial
 ENABLE_yarpmod_serialport

• Custom iCub configuration

 BUILD_TESTING ON
 CMAKE_BUILD_TYPE Release
 ENABLE_icubmod_canmotioncontrol ON
 ENABLE_icubmod_cartesiancontrollerclient ON // not needed! this is for the servers
 ENABLE_icubmod_cartesiancontrollerserver ON
 ENABLE_icubmod_cfw2can ON
 ENABLE_icubmod_dragonfly2 ON
 ENABLE_icubmod_icubarmcalibrator ON
 ENABLE_icubmod_icubhandcalibrator ON
 ENABLE_icubmod_icubheadcalibrator ON
 ENABLE_icubmod_icublegscalibrator ON
 ENABLE_icubmod_logpolarclient ON
 ENABLE_icubmod_logpolargrabber ON
 ENABLE_icubmod_skinprototype ON
 ENABLE_icubmod_xsensmtx ON
 ICUB_CANPROTOCOL_STRICT ON
 ICUB_USE_INTERFACEGUI ON

• Final configuration

1. yarp namespace /icub
2. in order to find the yarpserver running on chico3, write 10.10.1.53 10000 into the file specified by yarp conf

See also

• Compilation on the pc104
• The Linux on the pc104