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Prerequisites

IF YOU USE NVIDIA YOU NEED INSTALL NVIDIA DRIVER

First step (may be need reboot after)

Activities -> Software and Updates -> Other Partners -> Check Canonical Partners

Second step

Activities -> Software and Updates -> Additional Drivers -> Check TESTED nvidia driver -> reboot

Third step -- check if nvidia driver works. Do in terminal

lshw -C display

if you see in outpu somethin like it's ok!

...
configuration: driver=nvidia latency=0
...

Installation

Clone the branch dev

mkdir ~/icub_ws && cd ~/icub_ws
git clone --recurse-submodules https://github.com/be2rlab/icub-grasping.git -b dev

Install docker (for nvidia graphics use ./install_docker.bash --nvidia)

cd /icub_ws/icub-grasping/docker
./install_docker.bash

Build icub's soft inside docker container (for nvidia graphics use ./build_docker.bash --nvidia)

cd ~/icub_ws/icub-grasping/docker/simulator/icub_custom/
./build_docker.bash

Compile superbuild

Inside docker container (here you should turn ON needed options in CMakeLists.txt)

cd /icub-grasping/robotology-superbuild/
mkdir build && cd build
cmake .. && make -j8

Next you should to do some steps

  1. Change from grabber to grabberDual in files (robotology/gazebo-yarp-plugins#498)

icub-grasping/robotology-superbuild/robotology/icub-gazebo/icub/conf/left_camera.ini

icub-grasping/robotology-superbuild/robotology/icub-gazebo/icub/conf/right_camera.ini

  1. Remove a link for default python2 interpretator, because we need python3. Inside docker container do
rm /usr/bin/python

then, check folders name (should be some)

/icub-grasping/robotology-superbuild/build/install/lib/pythonX.X

and inside the file

/icub-grasping/robotology-superbuild/build/install/share/robotology-superbuild/setup.sh
  1. Turn ON python in /icub-grasping/robotology-superbuild/CMakeLists.txt

Check installation

Run icub's container

cd ~/icub_ws/icub-grasping/docker/simulator/icub_custom/

(for nvidia graphics use flag -n or --nvidia)

./run_icub.bash

Check if all works happily (!!! do it inside run container)

yarpserver &
iCub_SIM

Run project

Do

cd ~/icub_ws/icub-grasping
bash add_comport.bash

Do in terminal 1-tab

irun --nvidia
yarpserver&
source /icub-grasping/env.bash
gazebo /icub-grasping/project/scenes/demo_day.world

Do in terminal 2-tab

iexec
yarpview --name /view01

Do in terminal 3-tab

iexec
cd /icub-grasping/project/scripts
python3 yarp_vision_connector.py

To be continued...

Add matlab support

Turn ON matlab option in /icub-grasping/robotology-superbuild/CMakeLists.txt

Setup path for your linux matlab in ~/icub_ws/icub-grasping/docker/simulator/icub_custom/run_icub.bash.

Change /home/$USER/matlab/ to matlab location in your computer

-v /home/$USER/matlab/:/matlab \

Enter to container and do

source /icub-grasping/env.bash