ICub instructions
Setup
The demo inventory consists of:
| machine | notes | IP address, username |
|---|---|---|
| Chico the robot (duh) | has a pc104 CPU in its head | 10.10.1.50, icub |
| icubsrv Dell XPS laptop | don't worry about this machine, just keep it switched on. It contains a hard disk that gets mounted by Chico's read-only CPU at boot time | 10.10.1.51, icub |
| chico3 Tsunami 17" laptop | we will use this machine for YARP and all demo management | 10.10.1.53, icub |
Below Chico's table, from top to bottom we have:
| what | notes | IP address, username |
|---|---|---|
| iCubBrain chassis | contains two servers used for computation | 10.10.1.41 (icubbrain1), 10.10.1.42 (icubbrain2), icub |
| Xantrex XFR 35-35 | thin power supply unit, to power pc104 and some motors | - |
| Xantrex XFR 60-46 | thick power supply unit, to power most motors | - |
| APC UPS | uninterruptible power supply | - |
Turning on
- Check that the UPS is on
- Turn on icubsrv (Dell XPS laptop)
- Turn on chico3 (Tsunami 17" laptop), which we will use to actually control the demos
- Turn on the Xantrex power supply units
- Turn on the green switches behind Chico
- Safety hint: first turn on the pc104 CPU switch, wait for it to be alive and only then switch the motors on
- Another safety hint: wait for the four purple lights on each board to turn off and become two blue lights – at this pointy you can start iCubInterface
- Start the needed YARP components with the GUI: one instance of yarpserver and all necessary instances of yarprun, one per machine
- Depending on which demo you want to execute, you will probably need to start iCubInterface and the cameras (this is explained below, in every demo subsection)
- Depending on your demo, you might need to power up icubbrain1 (left half of server chassis) and/or icubbrain2 (right half)
Shutting off
- Stop your demo and the cameras with the GUI
- Go to the pc104 iCubInterface shell windows and stop the program with ctrl+c, just once. Warning: the robot will move to a relax position now! If iCubInterface does not quit gracefully, type ctrl+c but pay attention, be ready to hold the robot so to prevent it from falling to its front
- Stop yarpserver and the yarpruns with the Cluster Manager GUI
- Turn off the two green switches. If iCubInterface was not killed properly, be ready to hold the robot in the moment when you turn off the 'motors' switch
- Turn off the Xantrex power supply units
- Turn off chico3 (Tsunami 17" laptop)
- If necessary, turn off icubsrv (Dell XPS laptop) and the UPS