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

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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:

  1. Pull the docker image:
    docker pull ghcr.io/icub-tech-iit/test-skin-patches:latest
  2. Launch the container:
    docker run -it --rm --network host ghcr.io/icub-tech-iit/test-skin-patches:latest
  3. From within the container shell, launch the following scripts:
    start-vnc-session.sh
  4. Open up the browser and connect to localhost:6080 to get to the workspace desktop GUI.

🖐🏻 Instructions to test the skin

  1. 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
  2. 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.
  3. 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

🔘 How to shut down the docker container

From the container shell, press CTRL+D.

🖥 Tested platforms

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

  • Ubuntu 20.04

👨🏻‍💻 Maintainers

This repository is maintained by:

@pattacini

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

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