Added v7.5

s4hri · Jan 17, 2024 · 70d9bbe · 70d9bbe
1 parent c5ad642
commit 70d9bbe
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Showing 9 changed files with 86 additions and 45 deletions.
diff --git a/build.env b/build.env
@@ -2,12 +2,12 @@ DOCKYMAN_VER=v1.1
 REPOSITORY=iitschri
 PROFILE=development
 
-VERSION=v7.4-ng
+VERSION=v7.5-ng
 
 ICUB_DISTRO=v2022.02.0-ubuntu20.04
 PYICUB_BASE_DOCKER_SRC=${REPOSITORY}/robotology-superbuild-docker:${ICUB_DISTRO}
 PYICUB_BASE_NAME=${REPOSITORY}/pyicub-docker:${VERSION}
-PYICUB_VERSION=v7.4-distro_v2022.02.0-ubuntu20.04
+PYICUB_VERSION=v7.5-distro_v2022.02.0-ubuntu20.04
 PYICUB_FRONTEND_VERSION=v8.0-ng
 PYICUB_FRONTEND_BASE_NAME=${REPOSITORY}/pyicub-frontend-docker:${PYICUB_FRONTEND_VERSION}
 

diff --git a/compose.yaml b/compose.yaml
@@ -31,7 +31,7 @@ services:
 
   pyicub-frontend:
     image: ${PYICUB_FRONTEND_BASE_NAME}
-    container_name: pyicub-frontend.${VERSION}
+    container_name: pyicub-frontend.${PYICUB_FRONTEND_VERSION}
 
     profiles: ["restapi"]
 

diff --git a/pyicub.env b/pyicub.env
@@ -6,6 +6,7 @@ ICUB_HOST=icub-head
 ICUB_IP=10.0.0.2
 ICUBSRV_HOST=icubsrv
 ICUBSRV_IP=10.0.0.1
+ICUBSRV_PORT=10000
 ICUB_APPS=/workdir/apps
 
 # YARP configuration

diff --git a/scripts/initContainer.sh b/scripts/initContainer.sh
@@ -4,7 +4,7 @@ echo "DOCKYMAN -> Running inizialization script (docker container)"
 
 source ${ROBOTOLOGY_SUPERBUILD_INSTALL_DIR}/share/robotology-superbuild/setup.sh
 
-YARP_FORWARD_LOG_ENABLE=0 yarpserver --write --ip $ICUBSRV_IP &
+YARP_FORWARD_LOG_ENABLE=0 yarpserver --write --ip $ICUBSRV_IP --socket $ICUBSRV_PORT &
 sleep 1
 
 if ! $ICUB_SIMULATION ; then

diff --git a/workdir/apps/applications/icub/icub.xml b/workdir/apps/applications/icub/icub.xml
@@ -39,12 +39,7 @@
 
           <module>
             <name>yarpview</name>
-            <parameters>--name /face --x 0 --y 0 --p 50 --w 320 --h 240</parameters>
-            <node>$ENV{ICUBSRV_HOST}</node>
-          </module>
-
-          <module>
-            <name>faceLandmarks</name>
+            <parameters>--name /rightcamview --x 0 --y 0 --p 50 --w 320 --h 240</parameters>
             <node>$ENV{ICUBSRV_HOST}</node>
           </module>
 
@@ -92,14 +87,8 @@
           </connection>
 
           <connection>
-            <from>/faceLandmarks/image:o</from>
-            <to>/face</to>
-            <protocol>udp</protocol>
-          </connection>
-
-          <connection>
-            <output>/icub/camcalib/right/out</output>
-            <input>/faceLandmarks/image:i</input>
+            <from>/icub/camcalib/right/out</from>
+            <to>/rightcamview</to>
             <protocol>udp</protocol>
           </connection>
 

diff --git a/workdir/apps/applications/icub/vision.xml b/workdir/apps/applications/icub/vision.xml
@@ -0,0 +1,31 @@
+<application>
+<name>iCub Vision</name>
+
+        <authors>
+            <author email="[email protected]">Davide De Tommaso</author>
+        </authors>
+
+          <module>
+            <name>faceLandmarks</name>
+            <node>$ENV{ICUBSRV_HOST}</node>
+          </module>
+
+          <module>
+            <name>yarpview</name>
+            <parameters>--name /face --x 0 --y 0 --p 50 --w 320 --h 240</parameters>
+            <node>$ENV{ICUBSRV_HOST}</node>
+          </module>
+
+          <connection>
+            <from>/faceLandmarks/image:o</from>
+            <to>/face</to>
+            <protocol>udp</protocol>
+          </connection>
+
+          <connection>
+            <output>/icub/camcalib/right/out</output>
+            <input>/faceLandmarks/image:i</input>
+            <protocol>udp</protocol>
+          </connection>
+
+</application>
diff --git a/workdir/apps/applications/icubSim/icub-sim-demos.xml b/workdir/apps/applications/icubSim/icub-sim-demos.xml
@@ -1,5 +1,5 @@
 <application>
-<name>iCub Demos sim</name>
+<name>iCubSim Demos</name>
 
         <authors>
             <author email="[email protected]">Davide De Tommaso</author>

diff --git a/workdir/apps/applications/icubSim/icub-sim.xml b/workdir/apps/applications/icubSim/icub-sim.xml
@@ -1,5 +1,5 @@
 <application>
-<name>iCub Simulation</name>
+<name>iCubSim</name>
 
         <module>
                 <name>yarplogger</name>
@@ -47,23 +47,11 @@
             <node>$ENV{ICUBSRV_HOST}</node>
         </module>
 
-        <module>
-                  <name>yarpdev</name>
-                  <environment>YARP_FORWARD_LOG_ENABLE=1</environment>
-                  <parameters>--device opencv_grabber</parameters>
-                  <node>$ENV{ICUBSRV_HOST}</node>
-        </module>
-
-        <module>
-          <name>yarpview</name>
-          <parameters>--name /face --x 0 --y 0 --p 50 --w 320 --h 240</parameters>
-          <node>$ENV{ICUBSRV_HOST}</node>
-        </module>
-
-        <module>
-           <name>faceLandmarks</name>
-           <node>$ENV{ICUBSRV_HOST}</node>
-         </module>
+          <module>
+            <name>yarpview</name>
+            <parameters>--name /rightcamview --x 0 --y 0 --p 50 --w 320 --h 240</parameters>
+            <node>$ENV{ICUBSRV_HOST}</node>
+          </module>
 
         <connection>
             <from>/face/eyelids</from>
@@ -96,14 +84,8 @@
         </connection>
 
         <connection>
-            <from>/faceLandmarks/image:o</from>
-            <to>/face</to>
-            <protocol>udp</protocol>
-        </connection>
-
-        <connection>
-            <output>/grabber</output>
-            <input>/faceLandmarks/image:i</input>
+            <from>/icubSim/cam/right</from>
+            <to>/rightcamview</to>
             <protocol>udp</protocol>
         </connection>
 

diff --git a/workdir/apps/applications/icubSim/vision.xml b/workdir/apps/applications/icubSim/vision.xml
@@ -0,0 +1,38 @@
+<application>
+<name>iCubSim Vision</name>
+
+        <authors>
+            <author email="[email protected]">Davide De Tommaso</author>
+        </authors>
+
+        <module>
+          <name>yarpdev</name>
+          <environment>YARP_FORWARD_LOG_ENABLE=1</environment>
+          <parameters>--device opencv_grabber</parameters>
+          <node>$ENV{ICUBSRV_HOST}</node>
+        </module>
+
+          <module>
+            <name>faceLandmarks</name>
+            <node>$ENV{ICUBSRV_HOST}</node>
+          </module>
+
+          <module>
+            <name>yarpview</name>
+            <parameters>--name /face --x 0 --y 0 --p 50 --w 320 --h 240</parameters>
+            <node>$ENV{ICUBSRV_HOST}</node>
+          </module>
+
+          <connection>
+            <from>/faceLandmarks/image:o</from>
+            <to>/face</to>
+            <protocol>udp</protocol>
+          </connection>
+
+          <connection>
+            <output>/grabber</output>
+            <input>/faceLandmarks/image:i</input>
+            <protocol>udp</protocol>
+          </connection>
+
+</application>