Compilation on the pc104 old

These instructions only apply to YARP <= 2.3.24 and iCub <= 1.1.13 software versions

Compilation on the pc104 follows the same procedure we saw in Section 6 of the manual. The main difference is that in addition you need to enable certain flags in CMake that enable compilation of external modules. Some of these modules are generic and open source and are available in YARP; others are available in iCub because they are specific to the robot and in certain case require proprietary code (the API shipped with the hardware).

We recap the list of modules before going to the installation instructions.

List of modules

The list of modules depends on the version of the robot you have.

These are modules that are common to all robots:

• serial and serialport: face expressions
• xsensmtx: inertial sensor
• canmotioncontrol: communication with the can bus
• dragonfly2: cameras
• portaudio: microphones

the calibrators:

• icubarmcalibrator
• icubheadcalibrator
• icublegscalibrator
• icubhandcalibrator
• icubarmcalibratorj8

and Cartesian controllers:

• cartesiancontrollerclient
• cartesiancontrollerserver

These are modules that depend on the version of the robot:

• pcan: plx can interface (iCub 1.0 and 1.1.0)
• ecan: esd can interface (iCub 1.1.0)
• cfw2can: cfw2 can interface (iCub 1.1.1 and later versions)
• skinprototype: if skin parts (palm, forearm, arm) are present on the robot (iCub versions 1.2 and later)

Prepare your system

The Debian Linux that comes installed on the pc104 is already configured. Before you go ahead make sure the Debian Live on the pc104 is configured to use SVN (use image version > 1.3).

Section 9.1 gives more details on the pc104 Debian and instructions on how to update it.

Environment variables

After booting the pc104 you should be able to login using ssh and the icub user.

Verify that the following environment variables are present:

YARP_ROOT
YARP_DIR

ICUB_ROOT
ICUB_DIR

Important: double check that the environment variable ICUB_ROBOTNAME exists and matches the name of your robot (e.g. iCubAberystwyth01).

If something is missing check the pc104 installation instructions.

Getting YARP and iCub sources

You should be aware that in default installations the Linux on the pc104 mounts a directory from the laptop/server. This is visible from /usr/local/src/robot and should normally contain the software repositories in the following directories:

/usr/local/src/robot/iCub
/usr/local/src/robot/yarp2

If for some reasons you don't have these directories you have to download the repositories from svn:

cd /usr/local/src/robot
svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2

svn co https://robotcub.svn.sourceforge.net/svnroot/robotcub/trunk/iCub

Don't change the location of the repositories because the icub environment on the pc104 is already configured by assuming the above directories (e.g. ICUB_ROOT, ICUB_DIR, YARP_ROOT etc..).

Compile YARP

Create the $YARP_DIR directory:

mkdir $YARP_DIR

cd $YARP_DIR

Clean the cache and generate makefiles:

rm CMakeCache.txt
ccmake $YARP_ROOT

Do not forget to enable optimization, this will improve performances a lot. In cmake for both YARP and iCub set:

 CMAKE_BUILD_TYPE: Release

 CREATE_LIB_MATH, set to ON
 CREATE_DEVICE_LIBRARY_MODULES:ON

Configure (hit c):

Now enable:

 ENABLE_yarpmod_serial
 ENABLE_yarpmod_serialport
 ENABLE_yarpmod_portaudio

Configure and generate makefiles.

Compile YARP:

 make

Do not run make install, the current instructions assume that the binaries are not installed in system directories.

To verify the procedure type:

 yarpdev --list

among the others the list should contains also the new devices:

 Device "serial", C++ class ServerInertial, is a network wrapper,
 Device "serialport", C++ class SerialDeviceDriver, wrapped by "serial"
 Device "portaudio", C++ class ...

Compile iCub

Create $ICUB_DIR if it does not exist:

 mkdir $ICUB_DIR

Clean cache and generate makefiles:

 cd $ICUB_DIR
 rm CMakeCache.txt
 ccmake $ICUB_ROOT/main

The following options are as usual:

 CMAKE_BUILD_TYPE:Release 

Hit c to configure. A long list of devices (in the form of ENABLE_icubmod_*) will appear.

You need to enable (all versions of iCub):

 ENABLE_icubmod_canmotioncontrol
 ENABLE_icubmod_dragonfly2
 ENABLE_icubmod_logpolarclient
 ENABLE_icubmod_logpolargrabber
 ENABLE_icubmod_xsensmtx
 ENABLE_icubmod_icubarmcalibrator
 ENABLE_icubmod_icubheadcalibrator
 ENABLE_icubmod_icublegscalibrator
 ENABLE_icubmod_icubarmcalibratorj8
 ENABLE_icubmod_icubhandcalibrator
 

 ENABLE_icubmod_cartesiancontrollerclient
 ENABLE_icubmod_cartesiancontrollerserver

Versions from iCub 1.1.1 enable also:

 ENABLE_icubmod_cfw2can
 ENABLE_icubmod_skinprototype

Versions iCub 1.x.2 enable also:

 ENABLE_icubmod_icubheadcalibratorV2

Previous versions (iCub 1.0 and 1.1.0):

 ENABLE_icubmod_pcan: iCub 1.0 and 1.1.0
 ENABLE_icubmod_ecan: iCub 1.1.0

CMake will generate make files. Possible errors:

• pcan/ecan fails to detect API(s): check that you have unpacked plxCanApi/esdCanApi in /usr/local/src/robot/drivers. cmake uses the environment variables PLXCANAPI_DIR/ESDCANAPI_DIR to locate these libraries. If you the pc104 has a Debian Live image >= 1.4 these should be already set, otherwise you have to do it manually.

compile:

 make

install applications:

 make install_applications

Do not run make install, the current instructions assume that the binaries are not installed in system directories.

To verify the procedure type:

 icubmoddev --list

among the others the list should contains also the new devices:

 Device "dragonfly2", C++ class DragonflyDeviceDriver2, wrapped by "grabber"
 Device "pcan", C++ class PlxCan, has no network wrapper
 ...