This repo contains all the sw dependencies and instructions needed by ergoCub robot. It does not take into account any simulation environment.
| Software | Dependencies | Installation Place | Needed by demo |
|---|---|---|---|
| ergocub-gaze-control | yarp idyntree ergocub-software(for URDF model) | Robot Torso | Perception Demo |
| ergocub-realsense-pose | yarp idyntree ergocub-software(for URDF model) | Robot Torso | Perception Demo |
| bt_nav2_ergocub | Nav2 yarp | Laptop | Navigation Demo |
| ergocub-rpc-interfaces | yarp | Robot Torso | Perception and Navigation Demo |
| ergocub-bimanual | yarp idyntree Eigen SimpleQPSolver ergocub-software(for URDF model) | Robot Torso | Integration and bimanual Demo |
| ergocub_navigation | yarp Nav2 bt_nav2_ergocub pointcloud_to_laserscan ergocub-software(for URDF model) | Laptop | Navigation and Integration Demo |
| ergocub-perception | docker yarp | Laptop | Perception and Navigation Demo |
| ergocub-behavior | ergocub-rpc-interfaces yarp | Laptop | Perception and Navigation Demo |
An extensive documentation on how to run the demo on ergoCub is present at this link.
Take this as a general guide of the order of the steps that have to been made to run code on ergocub.
More importantly it is really helpful to understand how the hardware setup is made: ergocub-robot-basics.
How to run the full demo.
On each ergoCub robot is installed the robotology-superbuild and it's kept at a certain tag for allowing a stable working platform. Once it gets updated on a robot, it is announced on the relative Teams Channel.
All the HSP code must be cloned inside the HSP folder (for each PC) in /usr/local/src/robot/hsp
On the robot PCs are available some aliases or shortcuts that can come in handy to cd to important directories:
gotoRobotsConfigurationFolder brings you to your current robot configuration folder.
goToBuildSuperbuild if done inside a repo under the src folder of the superbuild, it takes you to its relative build folder (if present). Useful to build only the specific repo (by doing cmake . and make install).
test-speaker tests if the speakers are working.
Useful environment variables:
YARP_ROBOT_NAME environment variable that contains the robot name. Used to automatically select configurations files.
ROBOTOLOGY_SUPERBUILD_INSTALL_DIR is the path where the software has to be installed: /usr/local/src/robot/robotology-superbuild/build/install.
ROBOT_CODE is the parent directory where all the code repositories are contained: /usr/local/src/robot. Here you will find the folder hsp where you can clone your code.