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

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 /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