• On the Face Tracking Computer

 1. Install ROS box-turtle (http://www.ros.org/wiki/ROS/Installation/Ubuntu/Deb) 
 2. Check out tumros-internal repository:  git clone gitosis@git9.in.tum.de:tumros-internal
 3. OID5 Code Repository!
Give your public ssh key to Alexis for this to work!
hg clone ssh://repo@nibbler.informatik.tu-muenchen.de//work/repos/hg/oid5

• On the iCub Laptop

 To startup the iCub follow the instructions at: http://toychest.in.tum.de/wiki/ias:icub in section "Startup".
 (If you want to check the cameras: In Application Manager click on "Run" at yarpview (left or right) , then click on "Run" at frameGrabberGui and then click on "Connect" to connect those modules.)

• On Face Tracking Computer

  1. Configure namespace: rosrun yarp2 yarp namespace /icub
  2. Set Icup Laptop IP address for yarp: rosrun yarp2 yarp conf 10.0.0.1 10000
  3. Run ROS Core: roscore
  4. Run Face Detector Node in tumros-internal/perception/face_detector_mono/launch: roslaunch face_detect_with_yarp_image.launch 
  (Set Port Connection for communication rosrun yarp2 yarp connect /yarp_to_ros_image /gaze_tracker/cam_in )

• To shut iCub down do

  1. On local computer:
  Shut down Face Detector

  2. On the iCub Laptop:
     a. In the Application Manager click on Ctrl-c on all green modules.
     b. In the terminal Ctrl-C the shell script

Turn off power switch