Check your installation

From Wiki for iCub and Friends
Jump to navigation Jump to search

This page will guide your through simple steps to check that you have correctly installed YARP and the iCub software. We assume you have followed all installations steps (installation from binaries or sources).

Check YARP

First step is to have a yarpserver running.

At a terminal type:


Depending on the system the console will look something like this:


If you type on a web browser you get information about the name server (registered ports, info, etc.).

We can just check functionality by running a simple example. On another terminal type:

yarp read /portread

on a third terminal:

yarp write /portwrite

and on yet another terminal:

yarp connect /portwrite /portread

you'll see the effect on the name server:

yarp: registration name /portwrite ip port 10012 type tcp
yarp: registration name /portread ip port 10002 type tcp

Now, anything typed on the yarp write will be sent and printed on the read side.

Check iCub

You can run the iCub simulator.

Open a terminal and type:


The simulator should open in a new window:


Now you can move each joint individually using the robotMotorGui tool.

On a different terminal type:


Modify the name of the robot: type icubSim in the edit window (see below).


Select the left_arm and drag the position of each joint to move the arm:

Yarpmotorgui 2.png


You can now view the output from the cameras. On different consoles, run two viewers:

yarpview --name /view/left
yarpview --name /view/right

and connect them:

yarp connect /icubSim/cam/left /view/left
yarp connect /icubSim/cam/right /view/right


Play a recorded sequence

You can also use the dataSetPlayer to replay a recorded sequence. This will reproduce all the sensory information available on the real robot during a simple experiment. Follow the instructions here:



Now you are ready to try our tutorials: