1. CI Status

2. TOC

• 1. CI Status
• 2. TOC
• 3. Introduction
• 4. Installation
  • 4.1. Prerequisite Linux
  • 4.2. Prerequisite Windows
  • 4.3. Installation and compilation
• 5. Redball demo

3. Introduction

This repository has been created to contain all the custom plugin created by researchers.

4. Installation

Supported OS: Linux Ubuntu 18.10 and Windows 10. Boost library version must be >1.64.

4.1. Prerequisite Linux

sudo apt-get install -y cmake libboost-all-dev

YARP see https://github.com/robotology/yarp

4.2. Prerequisite Windows

vcpkg install boost:x86-windows

YARP see https://github.com/robotology/yarp

In bash:

export blocktest_DIR=<path to your blocktest build dir>

4.3. Installation and compilation

In order to compile just execute the following commands in a bash terminal.

git clone https://github.com/robotology/blocktest-custom-plugins     
cd blocktest-custom-plugins
mkdir build
cd build
ccmake ..

Make sure your CMAKE_INSTALL_PREFIX in ccmake is <path to your blocktest build dir> Then:

make -j 4
make install

5. Redball demo

This test executes and checks the RedBallDemo application. In order to make this demo test work some prerequisited are needed.

$ git clone https://github.com/robotology/icub-basic-demos.git
$ mkdir icub-basic-demos/build && cd icub-basic-demos/build
$ ccmake .. && make install

Then some blocktest prerequisite in test.xml (or ScriptBuilder) must be activated:

	<prerequisite enabled="true" command="yarpserver" waitafter="5000" param="--silent" prefix="" kill="true" />
	<prerequisite enabled="true" command="iCub_SIM" waitafter="2000" param="" prefix="" kill="true" />
	<prerequisite enabled="true" command="yarprobotinterface" waitafter="2000" param="--context simCartesianControl --config no_legs.xml" prefix="" kill="true" />
	<prerequisite enabled="true" command="iKinGazeCtrl" waitafter="2000" param="--from configSim.ini" prefix="" kill="true" />
	<prerequisite enabled="true" command="iKinCartesianSolver" waitafter="2000" param="--context simCartesianControl --part right_arm" prefix="" kill="true" />
	<prerequisite enabled="true" command="iKinCartesianSolver" waitafter="2000" param="--context simCartesianControl --part left_arm" prefix="" kill="true" />
	<prerequisite enabled="true" command="iCubGui" waitafter="2000" param="--xpos 800 --ypos 80 --width 370" prefix="" kill="true" />
	<prerequisite enabled="true" command="demoRedBall" waitafter="2000" param="--from config-test.ini" prefix="" kill="true" />

Some blocktest library must be activated in test.xml (or ScriptBuilder):

	<library enabled="true" path="blocktestyarpplugins/libblocktestyarpplugins" name="yarpactiondepot" note="Yarp actions library" />
	<library enabled="true" path="genericactiondepot/genericactiondepot" name="genericactiondepot" note="System generic actions library" />
	<library enabled="true" path="blocktestcustomplugins/libblocktestcustomplugins" name="customactiondepot" note="Custom actions library" />

	<librarysettings enabled="true" name="genericactiondepot" />
	<librarysettings enabled="true" name="yarpactiondepot" wrappername="/right_leg /left_leg /torso /head /right_arm /left_arm" robotname="icubSim" netclock="false" />
	<librarysettings enabled="true" name="customactiondepot" />

As usual the test can be executed by (or by ScriptBuilder):

./blocktestrunner