Nina beaming 2026 » Historique » Révision 60
Révision 59 (Frederic Elisei, 03/06/2026 11:23) → Révision 60/64 (Frederic Elisei, 03/06/2026 11:23)
h1=. Nina beaming 2026
Changes in Nina (hardware), in middleware (now YARP3) and in computers (icub-laptop with Ubuntu 22, Mical-008 with Ubuntu 24) makes it mandatory to redevelop the Beaming platform. Old "cluster" were not compatible anymore (YARP image format has changed, OS libraries and tools updated...)
See [[Nina_update|Troubleshooting]] ]]
h2. Beaming state (03/06/2026)
* neck and gaze ok
* pilote+robot/subjects audio communication ok
* qualisys video recording ok (2 or 4 cameras)
* fireface audio recording ok (4 channels/8). Also records TTL output from qualisys
* see also [[Nina_beaming_stage_2026|stage David Klora]]
h2. Changes in Nina
* eyelids min/max and direction
h2. Changes on icub-head
* new PA_yarpmic (stereo, 48kHz)
* new PA_yarphear (mono, 48kHz)
h2. Changes on mical-006
* upgraded to newer yarp (because of the new image format)
* modified/recompiled for YARP 2.3
* new PA_yarpmic (mono, 48kHz)
* new PA_yarphear (stereo, 48kHz)
h2. Changes on mical-008
* localy compiled YARP3 + iCub (from the superbuild procedure)
* compiled support for YARP from python
* now an alias for icub-srv (with /root, not /icub)
* redefined cluster for yarprun
* new app for Bayer cameras
* new versions, compiled:
- yarp_aruco
- vrmonitor
- Start
- gipsadatadumper (with MJPG video for VideoLogs) + Video
- Head
- gaze_thread
h2. Changes on icub-laptop
* recompiled binaries/new versions for the beaming
- yarp_aruco
- vrmonitor, Start...
h2. Changes on cluster
* icub-001 and icub-002 are back (with ubuntu 22)
- same yarp/icub sources, recompiled with superbuild procedure
- recompiled: aruco and gipsadatadumper (with MJPG video for VideoLogs)
- !!! UDP error if deporting camCalib; fast_tcp should be used ??? different libACE version ?