Vizzy's Laptop configuration

Table of Contents Installation of visualization PC Install YARP from sources Install icub-main from sources Passwordless connections for icub-cluster script Testing the installation Correctly installed configuration files YARP namespace Configuring and running cluster manager Configuration Running Running yarpmanager

Installation of visualization PC

• Required packages

    sudo apt-get install libace-dev
    sudo apt-get install coinor-libipopt-dev

On the computer where you want to run yarpmanager:

  Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

  export YARP_ROOT=/home/vizzy/repositories/yarp
  export YARP_DIR=$YARP_ROOT/build
  export YARP_ROBOT_NAME=vizzy
  export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
  export ICUB_ROOT=/home/vizzy/repositories/icub-main
  export ICUB_DIR=$ICUB_ROOT/build
  export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
  export YARP_COLORED_OUTPUT=1
  export YARP_FORWARD_LOG_ENABLE=1
  export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script

  source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

Install YARP from sources

At the folder /home/vizzy/repositories

  git clone https://github.com/robotology/yarp.git
  cd yarp
  mkdir build
  cd build
  ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

  CREATE_DEVICE_LIBRARY_MODULES
  CREATE_GUIS
  CREATE_LIB_MATH
  CREATE_OPTIONAL_CARRIERS
  ENABLE_YARPRUN_LOG

Hit c again and set the following flags to ON:

  ENABLE_yarpcar_bayer_carrier
  ENABLE_yarpcar_mjpeg
  ENABLE_yarpcar_rossrv_carrier
  ENABLE_yarpcar_tcpros_carrier
  ENABLE_yarpcar_xmlrpc_carrier
  ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue

  make -jX

where X is the number of cores

Install icub-main from sources

At the folder /home/vizzy/repositories

  git clone https://github.com/robotology/icub-main.git
  cd icub-main
  mkdir build
  cd build
  ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

  ENABLE_icubmod_cartesiancontrollerclient
  ENABLE_icubmod_cartesiancontrollerserver
  ENABLE_icubmod_debugInterfaceClient
  ENABLE_icubmod_gazecontrollerclient

Hit c, then g and issue

  make -jX

where X is the number of cores

Passwordless connections for icub-cluster script

First, generate a key as follows. You only need to it once; use default choices:

 ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows (as example the PC for visualizing is deepthought):

 ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@vizzy-desktop
 ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@deepthought

Testing the installation

Correctly installed configuration files

Open a terminal and issue

  yarp-config robot --list

The correct output must list vizzy in the **INSTALLED DATA:

  **LOCAL USER DATA:
  **SYSADMIN DATA:
  **INSTALLED DATA:
  * Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
  default
  vizzy

YARP namespace

The namespace configuration defines the IP address and port where the yarpserver is expected to be found. Vizzy's setup runs the yarpserver at the vizzy-desktop. In order to set this configuration up, execute in a terminal the commands:

  yarp namespace /vizzy_ns
  yarp conf 192.168.1.2 10000

Issuing the command:

  yarp namespace

should report

  YARP namespace: /vizzy_ns

and yarp where should reply

  Looking for name server on 192.168.1.2, port number 10000
  If there is a long delay, try:
    yarp conf --clean

Configuring and running cluster manager

Configuration

The 3G ASUS Wireless router act as a wireless access point. The name of the network is Vizzy_ap, and both DHCP and manual IP addresses are valid. In the network configuration file /etc/hosts, the following should be added:

  192.168.1.2	vizzy-desktop

Running

Run icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought). This file has to be created for the PC you want to run on. The example command is as follows:

  icub-cluster.py vizzy-cluster-at-deepthought.xml

Running yarpmanager

Run the graphical application manager