iCub server with Ubuntu 22.04

[paliasgh]

Hello,

I hope you are doing great. I have a question regarding updating/setting up the iCub server based on Ubuntu 22.04. Recently, we have been asked to update all systems that are currently running Ubuntu 20.04, including icub-srv. I checked the documentation, and it looks like the image and also installation from scratch are both based on Ubuntu 20.04. Have you tested setting up a server on Ubuntu Server 22.04 or even 24.04 using the present documentation? Do you think it would work fine? Otherwise, we have to subscribe to Ubuntu Pro to be able to continue using Ubuntu Server 20.04 LTS.

Thanks!
Pourya

[Nicogene]

Hi @paliasgh! We are currently using ubuntu 22.04 and 24.04 on our robots, so yes, you can proceed with the update.

The update of both icub-head and icubsrv can be done as any other Linux; remember to recompile everything once upgraded (probably starting from a clean build is better).

Unfortunately, the documentation is outdated, we will update it soon

[Nicogene]

Now, we are considering upgrading iCub PCs

Do you mean icub-head?

The errors related to ace could be fixed with a fresh install of a robotology-superbuild. After a system upgrade I advise to delete the robotology-superbuild folder, clone it and then build again, just remember to enable what you need from the ccmake (e.g. if you are compiling on the icub-head you should enable the icub-head profile).

I also tried the latest version superbuild, but the first issue was it asking for Cuda 10.2

By default, it is not needed. I did not understand, do you need to compile the superbuild with cuda or it is a error that it come out trying to build after the system upgrade?

In general, it is very useful to install the dependencies via this script:

• https://github.com/robotology/robotology-superbuild/blob/master/scripts/install_apt_dependencies.sh

Via:

cd robotology-superbuild
sudo ./script/install_apt_dependencies.sh

[paliasgh]

Hi @Nicogene , thank you for your advice!

No, I meant other PCs connected to the iCub network. The new superbuild that I tried to build asked for Cuda 10.2. If it is not needed by default, I will double-check the CCMake options that were enabled. Also, I think I installed the dependencies from the old superbuild. I will need to update them with the new one.

[traversaro]

The new superbuild that I tried to build asked for Cuda 10.2.

That is strange. Can you report the exact error you were facing?

[paliasgh]

Hello @traversaro ,

The exact error (with the latest version of superbuild) is:

CMake Error at /usr/share/cmake-3.28/Modules/FindPackageHandleStandardArgs.cmake:230 (message): Could NOT find CUDA: Found unsuitable version "13.0", but required is exact version "10.2" (found /usr/local/cuda-13) Call Stack (most recent call first): /usr/share/cmake-3.28/Modules/FindPackageHandleStandardArgs.cmake:598 (_FPHSA_FAILURE_MESSAGE) /usr/share/cmake-3.28/Modules/FindCUDA.cmake:1291 (find_package_handle_standard_args) /usr/local/src/robot/opencv/build/OpenCVConfig.cmake:86 (find_package) /usr/local/src/robot/opencv/build/OpenCVConfig.cmake:108 (find_host_package) /usr/local/src/robot/robotology-superbuild/build/install/share/YCM/find-modules/FindOpenCV.cmake:79 (find_package) cmake/YarpFindDependencies.cmake:333 (find_package) CMakeLists.txt:60 (include)

Can the error be related to the old OpenCV that was built in /usr/local/src/robot/opencv?

[traversaro]

Yes, I guess you have an old OpenCV compiled locally (probably to support CUDA-acceleration)? If you do not need to CUDA acceleration, I suggest you to delete (if you already did a release) the folder /usr/local/src/robot/opencv and any env variable (like CMAKE_PREFIX_PATH or OpenCV_DIR) that is pointing to that folder, and switch to use the apt-provided opencv. If instead you indeed need a custom compiled OpenCV, I suggest to update opencv to the same version installed by apt (to minimize possible ABI incompatibilities) and recompile it from scratch.