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 chico2

       set the namespace to /icub
       "yarp namespace /icub"

       run the yarp server
       "yarp server"

       run the yarp run server
       "yarp run --server /chico2"
    

2 - Turn on the laptop

       set the namespace to /icub
       "yarp namespace /icub"

       make sure the name server is visible
       "yarp where" should detect the name server (10.10.1.???)

       run the yarp run server
       "yarp run --server /icubsrv"
     

2- Turn on the robot

       It will mount the repository on the laptop
       
       set the namespace to /icub
       "yarp namespace /icub"

       make sure the name server is visible
       "yarp where" should detect the name server (10.10.1.???)

       run the yarp run server
       "yarp run --server /pc104"

3- (Skip this for 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

       On chico2 do:

       cd $ICUB_DIR/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"

       To turn off the cameras do:
       ./cameras stop

       To change the size of the images edit file:
       $ICUB_DIR/app/default/scripts/config.sh

5- Run iCubInterface (hardware except cameras)

       UNLOCK THE RED BUTTON SWITCH
       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 YOGA demo

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

7- Start facial expressions driver

       Open a pc104 console and run:
       $ICUB_DIR/app/faceExpressions/scripts/emotions.sh

8 - Start facial expresions demo

       In any machine:
       $ICUB_DIR/app/faceExpressions/scripts/cycle.sh

9 - Run the ball following demo

       ballFollowingDemo