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).

After that, it runs the scripts that are found in icubsrv's /exports/code-pc104/pc104/hooks directory. You can use those scripts for making some configuration permanent on pc104 and/or to run programs. They set up the yarp namespace, configure the keys for passwordless log-ins, etc.

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)

About the hook scripts

The common version of the hook scripts is located in the RobotCub repository, under /usr/local/src/robot/iCub/pc104/startupscripts/opencall/hooks (available, for example, on icubsrv). The procedure is to copy them to icubsrv's /exports/code-pc104/pc104/hooks and then to customize VisLab-specific settings there.

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