Vizzy's Laptop configuration
- Required packages
sudo apt-get install libace-dev
sudo apt-get install coinor-libipopt-dev
sudo apt-get install libgsl0-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=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export ICUBcontrib_DIR=/home/vizzy/repositories/icub-contrib-common/build
export VIZZY_YARP_ICUB_ROOT=/home/vizzy/catkin_ws/src/vizzy/vizzy_yarp_icub
export VIZZY_YARP_ICUB_DIR=$VIZZY_YARP_ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub:$ICUBcontrib_DIR/share/ICUBcontrib:$VIZZY_YARP_ICUB_DIR/share/yarp
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$YARP_DIR/bin:$ICUB_DIR/bin:$ICUBcontrib_DIR/bin
Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env
Then open a new terminal and create the folder /home/vizzy/repositories
At the folder /home/vizzy/repositories
git clone https://github.com/robotology/yarp.git cd yarp mkdir build cd build ccmake ../
Hit c, then e (if needed), and change the following flags (setting all of them to ON):
CREATE_DEVICE_LIBRARY_MODULES CREATE_GUIS CREATE_LIB_MATH CREATE_OPTIONAL_CARRIERS ENABLE_YARPRUN_LOG
Hit c again and set the following flags to ON:
ENABLE_yarpcar_bayer_carrier ENABLE_yarpcar_mjpeg ENABLE_yarpcar_rossrv_carrier ENABLE_yarpcar_tcpros_carrier ENABLE_yarpcar_xmlrpc_carrier ENABLE_yarpmod_serial
Hit c twice in a row, then g and issue
make -jX
where X is the number of cores
At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git cd icub-main mkdir build cd build ccmake ../
Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient ENABLE_icubmod_cartesiancontrollerserver ENABLE_icubmod_debugInterfaceClient ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX
where X is the number of cores
In the repositories folder, download the `icub-contrib-common` repository, compile and install:
cd ~/repositories
git clone https://github.com/robotology/icub-contrib-common.git
cd icub-contrib-common && mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=$(echo $ICUBcontrib_DIR) ..
make install
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
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
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
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
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
Run the graphical application manager
yarpmanager --from robots/vizzy/ymanager.ini
