diegoferigo · November 30, 2018 10:42
diff --git a/.bashr_loc2.sh b/.bashr_loc2.sh
 # Disable echo ^C when Ctrl+C is pressed
 stty -echoctl

 # Export variables
 export EDITOR="nano"                                    # Set the default editor
 shopt -s autocd                                         # Avoid using cd to change directory. Simply: ~# /etc
 shopt -s cdspell                                        # Basilar typos autocorrect
 shopt -s dirspell                                       # Dir names spelling correction
 shopt -s cmdhist                                        # Inline multiline commands

 # History handling
 export HISTSIZE=10000                                   # Max history entries
 export HISTFILESIZE=10000
 export HISTIGNORE="history*:pwd:clear:df*:free*:??:jobs:bg:fg:cd ..:make*:cmake .*:ccmake .*:cd build:kill*:pkill*" # Don't save these commands
 export HISTTIMEFORMAT='%F %T '
 export PROMPT_COMMAND='history -a'                      # Sync history always, not only at session closing (PROMPT_COMMAND: execute before PS1 appears)
 bind '"\e[A": history-search-backward'                  # Search commands from first letters
 bind '"\e[B": history-search-forward'                   #

 # mappings for Ctrl-left-arrow and Ctrl-right-arrow for word moving
 bind '"\e[1;5C": forward-word'
 bind '"\e[1;5D": backward-word'
 bind '"\e[5C": forward-word'
 bind '"\e[5D": backward-word'
 bind '"\e\e[C": forward-word'
 bind '"\e\e[D": backward-word'

 # Custom PS1
 # set a fancy prompt (non-color, unless we know we "want" color)
 case "$TERM" in
    xterm-color|*-256color) color_prompt=yes;;
 esac
 if [ "$color_prompt" = yes ]; then
    PS1='${debian_chroot:+($debian_chroot)}\[\e[32;1m\]\u\[\e[0m\]@\H:\[\e[0;34m\]\w\[\e[0m\]\[\e[0;32m\]$(__git_ps1 " (%s)")\[\e[32;1m\]$\[\e[0m\]\[\e[1m\] '
 else
    PS1='${debian_chroot:+($debian_chroot)}\u@\H:\w$(__git_ps1 " (%s)")$ '
 fi

 # Trap enter to set default color for output (after prompt is white bold)
 trap 'echo -ne "\e[0m"' DEBUG
diff --git a/.bashrc b/.bashrc
 # ~/.bashrc: executed by bash(1) for non-login shells.
 # see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
 # for examples

 # Load the iCub custom bashrc
 # Do not move this script otherwise it doesn't get called from ssh
 ICUBRC_FILE="${HOME}/.bashrc_iCub"
 if [ -f "$ICUBRC_FILE" ] ; then
  source $ICUBRC_FILE
 fi

 # If not running interactively, don't do anything
 case $- in
    *i*) ;;
      *) return;;
 esac

 # don't put duplicate lines or lines starting with space in the history.
 # See bash(1) for more options
 HISTCONTROL=ignoreboth

 # append to the history file, don't overwrite it
 shopt -s histappend

 # for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
 HISTSIZE=1000
 HISTFILESIZE=2000

 # check the window size after each command and, if necessary,
 # update the values of LINES and COLUMNS.
 shopt -s checkwinsize

 # If set, the pattern "**" used in a pathname expansion context will
 # match all files and zero or more directories and subdirectories.
 #shopt -s globstar

 # make less more friendly for non-text input files, see lesspipe(1)
 [ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"

 # set variable identifying the chroot you work in (used in the prompt below)
 if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
    debian_chroot=$(cat /etc/debian_chroot)
 fi

 # set a fancy prompt (non-color, unless we know we "want" color)
 case "$TERM" in
    xterm-color|*-256color) color_prompt=yes;;
 esac

 # uncomment for a colored prompt, if the terminal has the capability; turned
 # off by default to not distract the user: the focus in a terminal window
 # should be on the output of commands, not on the prompt
 #force_color_prompt=yes

 if [ -n "$force_color_prompt" ]; then
    if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
 	# We have color support; assume it's compliant with Ecma-48
 	# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
 	# a case would tend to support setf rather than setaf.)
 	color_prompt=yes
    else
 	color_prompt=
    fi
 fi

 if [ "$color_prompt" = yes ]; then
    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
 else
    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
 fi
 unset color_prompt force_color_prompt

 # If this is an xterm set the title to user@host:dir
 case "$TERM" in
 xterm*|rxvt*)
    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
    ;;
 *)
    ;;
 esac

 # enable color support of ls and also add handy aliases
 if [ -x /usr/bin/dircolors ]; then
    test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
    alias ls='ls --color=auto'
    #alias dir='dir --color=auto'
    #alias vdir='vdir --color=auto'

    alias grep='grep --color=auto'
    alias fgrep='fgrep --color=auto'
    alias egrep='egrep --color=auto'
 fi

 # colored GCC warnings and errors
 export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'

 # some more ls aliases
 alias ll='ls -alF'
 alias la='ls -A'
 alias l='ls -CF'

 # Add an "alert" alias for long running commands.  Use like so:
 #   sleep 10; alert
 alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'

 # Alias definitions.
 # You may want to put all your additions into a separate file like
 # ~/.bash_aliases, instead of adding them here directly.
 # See /usr/share/doc/bash-doc/examples in the bash-doc package.

 if [ -f ~/.bash_aliases ]; then
    . ~/.bash_aliases
 fi

 # enable programmable completion features (you don't need to enable
 # this, if it's already enabled in /etc/bash.bashrc and /etc/profile
 # sources /etc/bash.bashrc).
 if ! shopt -oq posix; then
  if [ -f /usr/share/bash-completion/bash_completion ]; then
    . /usr/share/bash-completion/bash_completion
  elif [ -f /etc/bash_completion ]; then
    . /etc/bash_completion
  fi
 fi

 # Load the LOC2 custom bashrc
 LOC2RC_FILE="${HOME}/.bashrc_loc2"
 if [ -f "$LOC2RC_FILE" ] ; then
  source $LOC2RC_FILE
 fi
diff --git a/.bashrc_iCub.sh b/.bashrc_iCub.sh
 # .bashrc_iCub
 # setup the iCub enviroment
 echo "Setting up yarp and iCub env vars"

 # YARP and iCub enviroment variables
 export ROBOT_CODE=/usr/local/src/robot
 export ROBOT_LOCAL=/home/icub/.local/share/yarp
 export ICUBcontrib_DIR=$ROBOT_CODE/iCubContrib
 export YARP_ROOT=$ROBOT_CODE/yarp
 export YARP_DIR=$YARP_ROOT/build
 export ICUB_ROOT=${ROBOT_CODE}/icub-main
 export ICUB_DIR=${ICUB_ROOT}/build
 export icub_firmware_shared_DIR=${ROBOT_CODE}/icub-firmware-shared/build
 export YARP_DATA_DIRS=${YARP_DIR}/share/yarp:${ICUB_DIR}/share/iCub:${ICUBcontrib_DIR}/share/ICUBcontrib:${ICUBcontrib_DIR}/share/speech

 function icubsrv_mounted()
 {
  ICUBSRV_MOUNTED=0
  ICUBSRV_UNMOUNTED=1
  ICUBSRV_NOT_REACHABLE=2
  if [[ $(mount | grep nfs | grep $ROBOT_CODE | wc -l) -gt 0 ]] && [[ $(mount | grep nfs | grep $ROBOT_LOCAL | wc -l) -gt 0 ]] ; then
    if [[ $(ping -c1 -W1 icubsrv 2>/dev/null) ]] ; then
      return $ICUBSRV_MOUNTED
    else
      # Option not currently used
      return $ICUBSRV_NOT_REACHABLE
    fi
  elif [[ $(ping -c1 -W1 icubsrv 2>/dev/null) ]] ; then
    # Requires 'user' and 'nolock' mounting options
    mount ROBOT_CODE 2>/dev/null
    mount $ROBOT_LOCAL 2>/dev/null
    return $ICUBSRV_MOUNTED
  else
      return $ICUBSRV_UNMOUNTED
  fi
 }

 icubsrv_mounted
 ICUBSRV_STATUS=$?

 # Get the name of the robot
 if [ $ICUBSRV_STATUS -eq $ICUBSRV_MOUNTED ] ; then
  [ -f ${ROBOT_CODE}/yarp_robot_name.txt ] && export YARP_ROBOT_NAME=$(head --lines=1 ${ROBOT_CODE}/yarp_robot_name.txt)
 else
  # Set the name of your robot here.
  # Please change also the root user password
  export YARP_ROBOT_NAME=
 fi
 echo "Using YARP_ROBOT_NAME=\"$YARP_ROBOT_NAME\""

 # Set-up optimizations
 export CMAKE_BUILD_TYPE=Release

 # Editing the PATH causes bash_completion to hang if the folders are not reached
 if [ $ICUBSRV_STATUS -eq $ICUBSRV_MOUNTED ] ; then 
  export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin:${ICUBcontrib_DIR}/bin
 fi

 # DebugStream customization
 export YARP_VERBOSE_OUTPUT=0
 export YARP_COLORED_OUTPUT=1
 export YARP_TRACE_ENABLE=0
 export YARP_FORWARD_LOG_ENABLE=0

 # To enable tab completion on yarp port names
 if [ $ICUBSRV_STATUS -eq $ICUBSRV_MOUNTED ] ; then
  [ -f $YARP_ROOT/scripts/yarp_completion ] && source $YARP_ROOT/scripts/yarp_completion
 fi

 export LUA_PATH=";;;${ROBOT_CODE}/rFSM/?.lua;${ICUBcontrib_DIR}/share/ICUBcontrib/contexts/handover/lua/?.lua"
 export LUA_CPATH=";;;${YARP_DIR}/lib/lua/?.so"
diff --git a/Handle the offset of FT sensors.md b/Handle the offset of FT sensors.md
diff --git a/Launch gzserver on an external workstation.md b/Launch gzserver on an external workstation.md
diff --git a/Launch simulations in Gazebo.md b/Launch simulations in Gazebo.md
diff --git a/Matlab - Octave Bindings.md b/Matlab - Octave Bindings.md
diff --git a/Setup a new iCub Workstation.md b/Setup a new iCub Workstation.md
diff --git a/Setup the robot.md b/Setup the robot.md
	# Disable echo ^C when Ctrl+C is pressed
	stty -echoctl

	# Export variables
	export EDITOR="nano" # Set the default editor
	shopt -s autocd # Avoid using cd to change directory. Simply: ~# /etc
	shopt -s cdspell # Basilar typos autocorrect
	shopt -s dirspell # Dir names spelling correction
	shopt -s cmdhist # Inline multiline commands

	# History handling
	export HISTSIZE=10000 # Max history entries
	export HISTFILESIZE=10000
	export HISTIGNORE="history:pwd:clear:df:free:??:jobs:bg:fg:cd ..:make:cmake .:ccmake .:cd build:kill:pkill" # Don't save these commands
	export HISTTIMEFORMAT='%F %T '
	export PROMPT_COMMAND='history -a' # Sync history always, not only at session closing (PROMPT_COMMAND: execute before PS1 appears)
	bind '"\e[A": history-search-backward' # Search commands from first letters
	bind '"\e[B": history-search-forward' #

	# mappings for Ctrl-left-arrow and Ctrl-right-arrow for word moving
	bind '"\e[1;5C": forward-word'
	bind '"\e[1;5D": backward-word'
	bind '"\e[5C": forward-word'
	bind '"\e[5D": backward-word'
	bind '"\e\e[C": forward-word'
	bind '"\e\e[D": backward-word'

	# Custom PS1
	# set a fancy prompt (non-color, unless we know we "want" color)
	case "$TERM" in
	xterm-color\|*-256color) color_prompt=yes;;
	esac
	if [ "$color_prompt" = yes ]; then
	PS1='${debian_chroot:+($debian_chroot)}\[\e[32;1m\]\u\[\e[0m\]@\H:\[\e[0;34m\]\w\[\e[0m\]\[\e[0;32m\]$(__git_ps1 " (%s)")\[\e[32;1m\]$\[\e[0m\]\[\e[1m\] '
	else
	PS1='${debian_chroot:+($debian_chroot)}\u@\H:\w$(__git_ps1 " (%s)")$ '
	fi

	# Trap enter to set default color for output (after prompt is white bold)
	trap 'echo -ne "\e[0m"' DEBUG
	# ~/.bashrc: executed by bash(1) for non-login shells.
	# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
	# for examples

	# Load the iCub custom bashrc
	# Do not move this script otherwise it doesn't get called from ssh
	ICUBRC_FILE="${HOME}/.bashrc_iCub"
	if [ -f "$ICUBRC_FILE" ] ; then
	source $ICUBRC_FILE
	fi

	# If not running interactively, don't do anything
	case $- in
	i) ;;
	*) return;;
	esac

	# don't put duplicate lines or lines starting with space in the history.
	# See bash(1) for more options
	HISTCONTROL=ignoreboth

	# append to the history file, don't overwrite it
	shopt -s histappend

	# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
	HISTSIZE=1000
	HISTFILESIZE=2000

	# check the window size after each command and, if necessary,
	# update the values of LINES and COLUMNS.
	shopt -s checkwinsize

	# If set, the pattern "**" used in a pathname expansion context will
	# match all files and zero or more directories and subdirectories.
	#shopt -s globstar

	# make less more friendly for non-text input files, see lesspipe(1)
	[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"

	# set variable identifying the chroot you work in (used in the prompt below)
	if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
	debian_chroot=$(cat /etc/debian_chroot)
	fi

	# set a fancy prompt (non-color, unless we know we "want" color)
	case "$TERM" in
	xterm-color\|*-256color) color_prompt=yes;;
	esac

	# uncomment for a colored prompt, if the terminal has the capability; turned
	# off by default to not distract the user: the focus in a terminal window
	# should be on the output of commands, not on the prompt
	#force_color_prompt=yes

	if [ -n "$force_color_prompt" ]; then
	if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
	# We have color support; assume it's compliant with Ecma-48
	# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
	# a case would tend to support setf rather than setaf.)
	color_prompt=yes
	else
	color_prompt=
	fi
	fi

	if [ "$color_prompt" = yes ]; then
	PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
	else
	PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
	fi
	unset color_prompt force_color_prompt

	# If this is an xterm set the title to user@host:dir
	case "$TERM" in
	xterm\|rxvt)
	PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
	;;
	*)
	;;
	esac

	# enable color support of ls and also add handy aliases
	if [ -x /usr/bin/dircolors ]; then
	test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" \|\| eval "$(dircolors -b)"
	alias ls='ls --color=auto'
	#alias dir='dir --color=auto'
	#alias vdir='vdir --color=auto'

	alias grep='grep --color=auto'
	alias fgrep='fgrep --color=auto'
	alias egrep='egrep --color=auto'
	fi

	# colored GCC warnings and errors
	export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'

	# some more ls aliases
	alias ll='ls -alF'
	alias la='ls -A'
	alias l='ls -CF'

	# Add an "alert" alias for long running commands. Use like so:
	# sleep 10; alert
	alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal \|\| echo error)" "$(history\|tail -n1\|sed -e '\''s/^\s[0-9]\+\s//;s/[;&\|]\s*alert$//'\'')"'

	# Alias definitions.
	# You may want to put all your additions into a separate file like
	# ~/.bash_aliases, instead of adding them here directly.
	# See /usr/share/doc/bash-doc/examples in the bash-doc package.

	if [ -f ~/.bash_aliases ]; then
	. ~/.bash_aliases
	fi

	# enable programmable completion features (you don't need to enable
	# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
	# sources /etc/bash.bashrc).
	if ! shopt -oq posix; then
	if [ -f /usr/share/bash-completion/bash_completion ]; then
	. /usr/share/bash-completion/bash_completion
	elif [ -f /etc/bash_completion ]; then
	. /etc/bash_completion
	fi
	fi

	# Load the LOC2 custom bashrc
	LOC2RC_FILE="${HOME}/.bashrc_loc2"
	if [ -f "$LOC2RC_FILE" ] ; then
	source $LOC2RC_FILE
	fi
	# .bashrc_iCub
	# setup the iCub enviroment
	echo "Setting up yarp and iCub env vars"

	# YARP and iCub enviroment variables
	export ROBOT_CODE=/usr/local/src/robot
	export ROBOT_LOCAL=/home/icub/.local/share/yarp
	export ICUBcontrib_DIR=$ROBOT_CODE/iCubContrib
	export YARP_ROOT=$ROBOT_CODE/yarp
	export YARP_DIR=$YARP_ROOT/build
	export ICUB_ROOT=${ROBOT_CODE}/icub-main
	export ICUB_DIR=${ICUB_ROOT}/build
	export icub_firmware_shared_DIR=${ROBOT_CODE}/icub-firmware-shared/build
	export YARP_DATA_DIRS=${YARP_DIR}/share/yarp:${ICUB_DIR}/share/iCub:${ICUBcontrib_DIR}/share/ICUBcontrib:${ICUBcontrib_DIR}/share/speech

	function icubsrv_mounted()
	{
	ICUBSRV_MOUNTED=0
	ICUBSRV_UNMOUNTED=1
	ICUBSRV_NOT_REACHABLE=2
	if [[ $(mount \| grep nfs \| grep $ROBOT_CODE \| wc -l) -gt 0 ]] && [[ $(mount \| grep nfs \| grep $ROBOT_LOCAL \| wc -l) -gt 0 ]] ; then
	if [[ $(ping -c1 -W1 icubsrv 2>/dev/null) ]] ; then
	return $ICUBSRV_MOUNTED
	else
	# Option not currently used
	return $ICUBSRV_NOT_REACHABLE
	fi
	elif [[ $(ping -c1 -W1 icubsrv 2>/dev/null) ]] ; then
	# Requires 'user' and 'nolock' mounting options
	mount ROBOT_CODE 2>/dev/null
	mount $ROBOT_LOCAL 2>/dev/null
	return $ICUBSRV_MOUNTED
	else
	return $ICUBSRV_UNMOUNTED
	fi
	}

	icubsrv_mounted
	ICUBSRV_STATUS=$?

	# Get the name of the robot
	if [ $ICUBSRV_STATUS -eq $ICUBSRV_MOUNTED ] ; then
	[ -f ${ROBOT_CODE}/yarp_robot_name.txt ] && export YARP_ROBOT_NAME=$(head --lines=1 ${ROBOT_CODE}/yarp_robot_name.txt)
	else
	# Set the name of your robot here.
	# Please change also the root user password
	export YARP_ROBOT_NAME=
	fi
	echo "Using YARP_ROBOT_NAME=\"$YARP_ROBOT_NAME\""

	# Set-up optimizations
	export CMAKE_BUILD_TYPE=Release

	# Editing the PATH causes bash_completion to hang if the folders are not reached
	if [ $ICUBSRV_STATUS -eq $ICUBSRV_MOUNTED ] ; then
	export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin:${ICUBcontrib_DIR}/bin
	fi

	# DebugStream customization
	export YARP_VERBOSE_OUTPUT=0
	export YARP_COLORED_OUTPUT=1
	export YARP_TRACE_ENABLE=0
	export YARP_FORWARD_LOG_ENABLE=0

	# To enable tab completion on yarp port names
	if [ $ICUBSRV_STATUS -eq $ICUBSRV_MOUNTED ] ; then
	[ -f $YARP_ROOT/scripts/yarp_completion ] && source $YARP_ROOT/scripts/yarp_completion
	fi

	export LUA_PATH=";;;${ROBOT_CODE}/rFSM/?.lua;${ICUBcontrib_DIR}/share/ICUBcontrib/contexts/handover/lua/?.lua"
	export LUA_CPATH=";;;${YARP_DIR}/lib/lua/?.so"
Computer description	Hostname	IP Address
Server	`icub-srv`	10.0.0.1
PC 104 in the robot's head	`icub-head`	10.0.0.2
Computer for I/O and visualization	*	10.0.0.*