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.

🔘 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