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