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

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)

pass icub icub

everything running with root namespace

1- Turn on the laptop run the yarp server "yarp server"

2- Turn on the robot it will mount the repository

3- Start yarp run

/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

cameras start

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