Pc104
See pc104/Archive for information about previous setups.
The pc104 CPU board is located into the iCub's head and it runs a full (read/write) Debian distribution that boots from a USB pen drive.
Booting and mounting
After booting, the pc104 mounts a remote disk from the iCub laptop using NFS. The mounted volume contains the yarp and iCub repositories, both code and binaries. The binaries are located in the respective build-pc104 subdirectories.
Software
- Dependencies for 640x480@30Hz images with Bayer encoding
sudo apt-get install libraw1394-dev libdc1394-22-dev
- yarp CMake configuration
CMAKE_BUILD_TYPE Release CREATE_DEVICE_LIBRARY_MODULES ON CREATE_LIB_MATH ON ENABLE_yarpmod_portaudio ON ENABLE_yarpmod_serial ON ENABLE_yarpmod_serialport ON
CREATE_OPTIONAL_CARRIERS ENABLE_yarpcar_bayer_carrier
- icub-main CMake configuration using robotInterface
CMAKE_BUILD_TYPE Release ENABLE_icubmod_canBusAnalogSensor ON ENABLE_icubmod_canBusSkin ON ENABLE_icubmod_canBusVirtualAnalogSensor ON ENABLE_icubmod_canmotioncontrol ON ENABLE_icubmod_cartesiancontrollerclient ON ENABLE_icubmod_cartesiancontrollerserver ON ENABLE_icubmod_cfw2can ON ENABLE_icubmod_dragonfly2 ON ENABLE_icubmod_dragonfly2raw ON ENABLE_icubmod_gazecontrollerclient ON // optional ENABLE_icubmod_icubarmcalibrator ON ENABLE_icubmod_icubhandcalibrator ON ENABLE_icubmod_icublegscalibrator ON ENABLE_icubmod_parametricCalibrator ON ENABLE_icubmod_sharedcan ON ENABLE_icubmod_skinWrapper ON ENABLE_icubmod_xsensmtx ON
Optional flags: ENABLE_icubmod_logpolarclient, ENABLE_icubmod_logpolargrabber.
- Final configuration
yarp namespace /icubecho "10.10.1.53 10000 yarp" > $(yarp conf)
The last command writes the information of the YARP server located on iCub laptop into the file specified by yarp conf, which is typically /home/icub/.config/yarp/_icub.conf. Warning: that command overwrites previous content.
Updating
In addition to yarp and icub-main, icub-firmware-shared must also be updated. Sometimes, a firmware update is also required.