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robotology / robots-configuration

Contains robots configuration files
BSD 3-Clause "New" or "Revised" License
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Register iCub `iCubManchester01` and update robotology-superbuild #613

Closed albertolillo23 closed 6 months ago

albertolillo23 commented 8 months ago

Hi, we are based in University of Manchester and we have an iCub in our lab with a version of robotology-superbuild 1.2. We want to update the robotology but the name is not in the page of list of iCub.

Name: iCubManchester01

Could you please help us to register iCub and obtain the correct configuration file?

Thank you,

CoRoLab University of Manchester

pattacini commented 8 months ago

Hi @albertolillo23

Thanks for reaching out. We will evaluate this request in terms of the required activities and get back to you with an estimate.

cc @Nicogene

albertolillo23 commented 8 months ago

For more information, I add that the version of yarp is 2.3.72.1 Thanks

Nicogene commented 7 months ago

Hi @albertolillo23!

From:

We decided to put the configuration files of the robots we didn't have news of for a while in the robot-icebox folder to shorten the list of maintained robots and the required efforts for keeping this repo up-to-date.

Having YARP 2.3.72 means that on your robot the software you are running on the robot is stuck to ~ 2018, maybe for you is sufficient to upgrade it to just before the institution of robot-icebox, i.e. the Distro 2023.05.0?

This should be possible right now without the need of any intervention.

For upgrading, I suggest starting from a clean state, and follow these instructions

using the v2023.05.0 tag.

Please let us know if it is sufficient, if you instead want to put your robot out from the robot-icebox more actions are needed, first of all, changes to the configuration files are needed to make them compatible with the latest software changes. A robot similar to yours that can be taken as example is iCubLondon01 but it took also several hw maintenance to make it up-to-date:

Nicogene commented 7 months ago

Hi @albertolillo23!

any update on this? Have you managed to update to the distro 2023.05.0?

albertolillo23 commented 7 months ago

Hi @Nicogene!

Sorry for the late reply, two days ago we tried to do the update.

Following the guide in the link regarding pc104, I noticed that in our pc, inside the robot folder we do not have a pre-existing "robotology-superbuild" folder, but I only have these folders:

So I downloaded it and followed the compile commands.

When I run the command (in the path: /usr/local/src/robot/robotology-superbuild):

I get an error saying:

How can we solve it?

Thanks for the support.

Nicogene commented 7 months ago

Hi @albertolillo23 you need to do the following steps:

cd robotology-superbuild
git checkout v2023.05.0
mkdir build && cd build
cmake -DROBOTOLOGY_USES_GAZEBO:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON ..
make

Once the build is finished you need to add this line at the beginning of the bashrc

source /usr/local/src/robot/robotology-superbuild/build/install/share/robotology-superbuild/setup.sh
pattacini commented 7 months ago

Once the build is finished you need to add this line at the beginning of the bashrc

Probably, it could also help cleaning up the content of bashrc by removing any reference to YARP_* and ICUB_* env variables, including relevant paths appended to PATH and LD_LIBRARY_PATH.

Nicogene commented 7 months ago

Hi @albertolillo23!

Did you manage to install the distro 2023.05.0 via robotology-superbuild?

albertolillo23 commented 7 months ago

Hi @Nicogene, sorry for the slow response, but we don't always have the availability of the lab where iCub is located, we will try it on Thursday and as soon as it is done we will let you know.

Thanks for the support.

albertolillo23 commented 7 months ago

Hi @Nicogene Today we tried it and found this error:

CMake Error at src/libYARP_eigen/src/CMakeLists. txt:25 (target_link_libraries):
    The link interface of target "VARP_eigen" contains:

        Eigen3:: Eigen

    but the target was not found. Possible reasons include:

          * There is a typo in the target name.
          * A find package call is missing for an IMPORTED target.
          * An ALIAS target is missing.

CMake Error at src/libYARP_math/src/CMakeLists. txt:86 (target_link_libraries):
    Target "VARP_math" links™ to:

        Eigen3: : Eigen

        but the target was not found. Possible reasons include:

            * There is a typo in the target name.
            * A find package call is missing for an IMPORTED target.
            * An ALIAS target is missing.

How can we solve this?

Thanks.

Nicogene commented 6 months ago

Hi @albertolillo23,

To install the required dependencies, you have to follow these instructions:

Here is instead the complete guide for installing from sources:

Nicogene commented 6 months ago

Hi @albertolillo23! Did you manage to upgrade your robot sw?

albertolillo23 commented 6 months ago

Hi @Nicogene, I'm working on it at the moment.

The situation from which I am starting is this, the robot folder contains these folders: folder

But, when i run cmake -DROBOTOLOGY_USES_GAZEBO:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON .. it can no longer find the other parts, terminal

I also saw the guide to compiling from source. Do you recommend formatting the pc104? So as to start from a clean situation and download and build everything, upgrading the pc to a newer version of Ubuntu, now is 16.04.

In case for you is ok and you are available, we could also have a video call, so that we can explain each other well and figure out a right way forward.

Thanks for your support.

Nicogene commented 6 months ago

Hi @albertolillo23,

it can no longer find the other parts,

This is fine, you don't have to worry about it, the superbuild will clone and build the missing repositories.

So as to start from a clean situation and download and build everything, upgrading the pc to a newer version of Ubuntu, now is 16.04.

We do not support Ubuntu 16.04, so yes I suggest you upgrade it to at least Ubuntu 20.04

In case for you is ok and you are available, we could also have a video call, so that we can explain each other well and figure out a right way forward.

Since your robot is not ready to be upgraded I think that this is becoming an icub-tech-support request, we need to verify first if your hardware support an upgrade to newer versions of ubuntu

Ccing @AntonioConsilvio for the upgrade procedure of the pc104

pattacini commented 6 months ago

Hi @albertolillo23

We had an internal meeting yesterday with our coordinator @maggia80 about the update of iCubManchester01 and, given that it turned out to be quite old software-wise, we think it may be worth running a thorough maintenance.

In our experience, in fact, updating/upgrading the SW of a robot equipped with old HW is a painful procedure if carried out remotely. Also, while doing so, we often find that some HW intervention is required.

Therefore, we suggest that you get in contact with our manager Andrea Derito (✉️ andrea.derito[at]iit.it) to ask for a quotation.

cc @andreaderito @Fabrizio69 @Nicogene

pattacini commented 6 months ago

Let me close this thread @albertolillo23.

For any further exchange on GitHub regarding the upgrade of iCubManchester01, please open up a ticket on https://github.com/robotology/icub-tech-support/issues (possibly, referencing this one).

At any rate, feel free to reopen this issue.