Test Skin Patches

An automated tool to be used during production stage for testing skin patches.

📦 Instructions to run the docker container

Install Docker and make sure to go through these post-installation steps on Linux systems.

Once you have Docker properly installed, follow these instructions:

Pull the docker image:

docker pull ghcr.io/icub-tech-iit/test-skin-patches:latest

Launch the container:

docker run -it --rm --network host ghcr.io/icub-tech-iit/test-skin-patches:latest

From within the container shell, launch the following scripts:
```
start-vnc-session.sh
```
Open up the browser and connect to localhost:6080 to get to the workspace desktop GUI.

Connect the ESD USB/CAN device to the host machine, then from a host console do:
```
sudo ip link set can0 type can bitrate 1000000
sudo ip link set up can0
```
From within the container's desktop GUI, open up a terminal console for each of the following commands to be launched:
```
yarpserver
yarprun --server /icubsrv
yarprobotinterface --config <skin_part.xml>
yarpmanager
```
where <skin_part.xml> corresponds to the configuration file of the part under test.\ To list down the available parts, just do ls /config-files/*.xml.
From within the yarpmanager GUI:
- Select Entities > Applications > SkinGui_All_V2
- Run skinManager, skinManagerGui and iCubSkinGui related to the part to be tested (in this example left_arm)
- Connect the port corresponding to the part to be tested (in this example left_arm)
- Touch the skin patch and you'll see the corresponding part highlighting in the GUI.

test-skin

From the container shell, press CTRL+D.

We tested that the docker container runs successfully on the following operating systems:

This repository is maintained by:


	@pattacini