An automated tool to be used during production stage for testing skin patches.
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:
where
yarpserver yarprun --server /icubsrv yarprobotinterface --config <skin_part.xml> yarpmanager
<skin_part.xml>
corresponds to the configuration file of the part under test.
To list down the available parts, just dols /config-files/*.xml
. - From within the yarpmanager GUI:
- Select
Entities
>Applications
>SkinGui_All_V2
- Run
skinManager
,skinManagerGui
andiCubSkinGui
related to the part to be tested (in this exampleleft_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.
- Select
From the container shell, press CTRL+D.
We tested that the docker container runs successfully on the following operating systems:
- Ubuntu 20.04
This repository is maintained by:
![]() |
@davidetome |
![]() |
@pattacini |