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 (icub icub) There is a support machine called chico2 (10.10.1.51) for running the yarp server, launching scripts and visualization.
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)
Everything running with /icub namespace
Running a demo
1 - Turn on chico2
set the namespace to /icub "yarp namespace /icub"
run the yarp server "yarp server"
run the yarp run server "yarp run --server /chico2"
2 - Turn on the laptop
not needed set the namespace to /icub "yarp namespace /icub"
not needed make sure the name server is visible "yarp where" should detect the name server (10.10.1.???)
not needed run the yarp run server "yarp run --server /icubsrv"
2- Turn on the robot (it will mount the repository that is stored on the laptop)
switch on the power supply units (grey boxes under the table)
switch on the cpu and motors of the iCub (green switches behind the iCub)
log in to pc104 ssh icub@10.10.1.50
set the namespace to /icub "yarp namespace /icub"
make sure the name server is visible "yarp where" should detect the name server (10.10.1.???)
run the yarp run server "yarp run --server /pc104"
3- (Skip this for 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
On chico2 do:
cd $ICUB_DIR/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"
To turn off the cameras do: ./cameras stop
To change the size of the images edit file: $ICUB_DIR/app/default/scripts/config.sh
5- Run iCubInterface (hardware except cameras)
UNLOCK THE RED BUTTON SWITCH 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 YOGA demo
iCubDemoY3 --config /app/demoy3/fullBody.txt
7- Start facial expressions driver
Open a pc104 console: cd $ICUB_DIR/app/faceExpressions/scripts ./emotions.sh $ICUB_DIR/app/iCubLisboa01/conf
8 - Start facial expresions demo
In any machine: $ICUB_DIR/app/faceExpressions/scripts/cycle.sh
or
yarp rpc /icub/face/emotions/in set all hap // full face happy set all sad // full face sad set all ang // full face angry set all neu // full face neutral set mou sur // mouth surprised set eli evi // eyelids evil set leb shy // left eyebrow shy set reb cun // right eyebrow cunning set all ta1 // mouth talking position 1 (mouth closed) set all ta2 // mouth talking position 2 (mouth open)
9 - Run the ball following demo
ballFollowingDemo
10 - Run the SIFT Object detection and tracking demo
NOT ACTUAL, NEEDS CORRECTION
In a fast machine: $ICUB_DIR/app/attentionDistributed/scripts/controlGazeManual.sh
In any machine: $ICUB_DIR/app/attention_objects/audio_visual_setup/CalibBothStart.sh $ICUB_DIR/app/attention_objects/audio_visual_setup/startSiftObjectRepresentation.sh
To change configuration: $ICUB_DIR/app/attention_objects/conf/icubEyes.ini