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Check your installation

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This page will guide your through simple steps to check that you have correctly installed YARP and the iCub software. We assume you have followed all installations steps (installation from binaries or sources).


Contents


Check YARP

First step is to have a yarpserver running.

At a terminal type:

 yarpserver

Depending on the system the console will look something like this:

Yarpserver.jpg

If you type on a web browser http://127.0.0.1:10000 you get information about the name server (registered ports, info, etc.).


We can just check functionality by running a simple example. On another terminal type:

yarp read /portread

on a third terminal:

yarp write /portwrite

and on yet another terminal:

yarp connect /portwrite /portread

you'll see the effect on the name server:

yarp: registration name /portwrite ip 127.0.0.1 port 10012 type tcp
yarp: registration name /portread ip 127.0.0.1 port 10002 type tcp

Now, anything typed on the yarp write will be sent and printed on the read side.

Check iCub

You can run the iCub simulator.

Open a terminal and type:

 iCub_SIM

The simulator should open in a new window:

Binaries-icub-simulator.jpg

Now you can move each joint individually using the robotMotorGui tool.

On a different terminal type:

 yarpmotorgui 

Modify the name of the robot: type icubSim in the edit window (see below).

Yarpmotorgui.png

Select the left_arm and drag the position of each joint to move the arm:

Yarpmotorgui 2.png

Icub-simulator.jpg

You can now view the output from the cameras. On different consoles, run two viewers:

yarpview --name /view/left
yarpview --name /view/right

and connect them:

yarp connect /icubSim/cam/left /view/left
yarp connect /icubSim/cam/right /view/right

Icubsimulator-viewers.jpg

Play a recorded sequence

You can also use the dataSetPlayer to replay a recorded sequence. This will reproduce all the sensory information available on the real robot during a simple experiment. Follow the instructions here:

http://www.yarp.it/group__yarpdataplayerExample.html

Datasetplayer-example.jpg

Tutorials

Now you are ready to try our tutorials:

http://wiki.icub.org/iCub/main/dox/html/icub_tutorials.html

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