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
/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