Nina beaming 2026 » Historique » Révision 62
Révision 61 (Frederic Elisei, 03/06/2026 11:23) → Révision 62/64 (Frederic Elisei, 03/06/2026 11:24)
h1=. Nina beaming revival (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 * PID values for eye tilt ? * 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 ?