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Set up Machine for running HDE

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Lorenzo Rapetti edited this page Feb 5, 2019 · 8 revisions

This page describes the step to prepare a computer for running the software required for running Human Dynamic Estimation.

The computer will be able to:

  • Control the Xsens suit (only Windows)
  • Read data from FTShoes/FTSkShoes
  • Process the data (HDE)
  • Visualize the data

The overall software infrastructure is shown in the following diagram: HDEv2 infrastructure

The more relevant required piece of software are the following, and the way to install them is described below:

the installation procedure uses the Robotology Superbuild, so it is strongly suggested to take a look at the robotology-superbuild installation guidelines which may be more updated.

Installation

robotology-superbuild

(Refer to robotology-superbuild for more details)

  • clone:

    cd $dev
git clone https://github.com/robotology/robotology-superbuild.git
cd robotology-superbuild
mkdir build

  • configure the following CMake variables and then generate (via CMake GUI or terminal):

    CMake Variables
    SOURCE CODE: $DEV/robotology-superbuild
    BUILD IN: $DEV/robotology-superbuild/build
    ROBOTOLOGY_ENABLE_DYNAMICS true
    CMAKE_INSTALL_PREFIX $DEV/robotology-superbuild/build/install

  • build:

    • unix
    cd build
make install
    • windows
    cd build
cmake --build . --config Release --target INSTALL

  • Add Enviornment Variables

    Environment Variables
    ROBOTOLOGY_SUPERBUILD_ROOT $DEV\robotology-superbuild
    ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX $DEV\robotology-superbuild\build\install
    Path $DEV\robotology-superbuild\build\install\bin
    $DEV\robotology-superbuild\build\install\lib
    YARP_DATA_DIRS $DEV\robotology-superbuild\build\install\share\yarp
    $DEV\robotology-superbuild\build\install\share\iCub
    $DEV\robotology-superbuild\build\install\share\ICUBcontrib
    $DEV\robotology-superbuild\robotology\icub-tests\suits

    (Those variables can be directly set by using source $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/robotology-superbuild/setup.sh in Linux, or the PowerShell script robotology-superbuild/build/install/share/robotology-superbuild/addPathsToUserEnvVariables.ps1 in Windows)

icub-firmware-shared

(Refer to icub-firmware-shared for more details)

  • clone:

    cd $DEV
git clone https://github.com/robotology/icub-firmware-shared.git
cd icub-firmware-shared
mkdir build

  • configure the following CMake variables and then generate (via CMake GUI or terminal):

    CMake Variables
    SOURCE CODE: $DEV/icub-firmware-shared
    BUILD IN: $DEV/icub-firmware-shared/build

  • build:

    • unix
    cd build
make install
    • windows
    cd build
cmake --build . --config Release --target INSTALL

icub-main

(Refer to icub-main for more details) The icub-main software is compiled by the robotology-superbuild. However, it is required to recompile it after changing some of its CMake options in order to have the whole HDE software running:

  • configure the following CMake variables and then generate (via CMake GUI or terminal):

    CMake Variables
    SOURCE CODE: $DEV/robotology-superbuild/robotology/ICUB
    BUILD IN: $DEV/robotology-superbuild/build/robotology/ICUB
    ENABLE_icubmod_ecan true
    ENABLE_icubmod_canBusAnalogSensor true
    ENABLE_icubmod_embObjFTsensor true
    ENABLE_icubmod_gazecontrollerclient true
    ENABLE_icubmod_cartesiancontrollerclient true
    ENABLE_icubmod_cartesiancontrollerserver true
    ENABLE_icubmod_canBusSkin true
    ENABLE_icubmod_skinWrapper true
    ICUB_USE_icub_firmware_shared true
    icub_firmware_shared_DIR $DEV/icub_firmware_shared/build
    CMAKE_INSTALL_PREFIX $DEV/robotology-superbuild/build/install
    ESDCANAPI_LIB path-to-ntcan.lib/ntcal.a (e.g. C:/ProgramFiles/ESD/CAN/SDK/lib/VC/amd64/ntcan.lib in Windows)

  • build:

    • unix
    cd build
make install
    • windows
    cd build
cmake --build . --config Release --target INSTALL

forcetorque-yarp-devices

(Refer to forcetorque-yarp-devices for more details)

  • clone:

    cd $DEV
git clone https://github.com/robotology-playground/forcetorque-yarp-devices.git
cd forcetorque-yarp-devices
mkdir build

  • configure the following CMake variables and then generate (via CMake GUI or terminal):

    CMake Variables
    SOURCE CODE: $DEV/forcetorque-yarp-devices
    BUILD IN: $DEV/forcetorque-yarp-devices/build
    CMAKE_INSTALL_PREFIX $DEV/robotology-superbuild/build/install
    ENABLE_ftshoe true

  • build:

    • unix
    cd build
make install
    • windows
    cd build
cmake --build . --config Release --target INSTALL

wearables

(Refer to wearables for more details)

  • clone:

    cd $DEV
git clone https://github.com/robotology-playground/wearables.git
cd wearables
mkdir build

    (N.B. the human-dynamics-estimation software is under development and the stable branch for running the full HDE may change)

  • configure the following CMake variables and then generate (via CMake GUI or terminal):

    CMake Variables
    SOURCE CODE: $DEV/wearables
    BUILD IN: $DEV/wearables/build
    CMAKE_INSTALL_PREFIX $DEV/robotology-superbuild/build/install
    Xsens_INCLUDE_DIR (Only for Windows) C:/Program Files/Xsens/MVN SDK 2018.0.3/SDK Files/x64/include
    Xsens_xme_LIBRARY (Only for Windows) C:/Program Files/Xsens/MVN SDK 2018.0.3/SDK Files/x64/lib/xme64.lib
    Xsens_xstypes_LIBRARY (Only for Windows) C:/Program Files/Xsens/MVN SDK 2018.0.3/SDK Files/x64/lib/xstypes64.lib

    (N.B the prefix of the following path can change depending on the version and the installation path chosen.)

  • build:

    • unix
    cd build
make install
    • windows
    cd build
cmake --build . --config Release --target INSTALL

human-dynamics-estimation

(Refer to human-dynamics-estimation for more details)

  • clone:

    cd $DEV
git clone https://github.com/robotology/human-dynamics-estimation.git
cd human-dynamics-estimation
mkdir build

    (N.B. the human-dynamics-estimation software is under development and the stable branch for running the full HDE may change)

  • configure the following CMake variables and then generate (via CMake GUI or terminal):

    CMake Variables
    SOURCE CODE: $DEV/human-dynamics-estimation
    BUILD IN: $DEV/human-dynamics-estimation/build
    CMAKE_INSTALL_PREFIX $DEV/robotology-superbuild/build/install

  • build:

    • unix
    cd build
make install
    • windows
    cd build
cmake --build . --config Release --target INSTALL

  • Add Enviornment Variables

    Environment Variables
    YARP_DATA_DIRS $DEV\human-dynamics-estimation\app\urdfs

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