Check your installation
First step is to have a yarpserver running.
At a terminal type:
Depending on the system the console will look something like this:
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.
You can run the iCub simulator.
Open a terminal and type:
The simulator should open in a new window:
Now you can move each joint individually using the robotMotorGui tool.
On a different terminal type:
Modify the name of the robot: type icubSim in the edit window (see below).
Select the left_arm and drag the position of each joint to move the arm:
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
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:
Now you are ready to try our tutorials: