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Automatic Firmware Update

This guide explains how to perform an automatic firmware update for iCub robots using the manageFWrobot.py script, which is located in robotology-superbuild/src/icub-firmware-build/scripts/.

1. Automated Firmware Update (AFU) Using Provided Scripts

The recommended way to perform a firmware update is to use the provided bash scripts in the scripts directory. These scripts simplify the process by automatically selecting the correct configuration files and options for your robot.

1.1 Navigate to the Scripts Directory

Open a terminal and change directory to:

cd /path/to/robotology-superbuild/src/icub-firmware-build/scripts

1.2 Update a Specific Body Part

  • To update a specific body part, run the corresponding script. For example, to update the left arm:
./FirmwareUpdater.script.update.left_arm.sh
  • Scripts are available for: head, face, left_arm, right_arm, torso, left_leg, right_leg, and for all parts (all).

1.3 Update All Boards of a Specific Type

  • To update all boards of a certain type (e.g., all FOC boards):
./FirmwareUpdater.script.update.all.foc.sh
  • Similarly, use FirmwareUpdater.script.update.all.ems4.sh for all EMS4 boards, etc.

1.4 Customizing or Excluding Board Types

  • To exclude a board type or further customize the update, copy one of the scripts (e.g., FirmwareUpdater.script.update.left_arm.sh) and edit the command line:
    • Use the -xb <board_type> option to exclude a board type (e.g., -xb ems4).
    • Change the -p <part> or -b <board_type> options as needed.
    • Example to update left_leg but exclude EMS4 boards:
./manageFWrobot.py -n `yarp resource --from network.$YARP_ROBOT_NAME.xml | grep ^\".*$ | sed 's/"//g'` -f ../info/firmware.info.xml -p left_leg -a update -xb ems4
  • Save your custom script and run it as above.

1.5 Using Action-Oriented Scripts (info, query, verify, update, program)

In addition to part- or board-specific scripts, the scripts directory also provides action-oriented scripts that let you perform a specific action (such as info, query, verify, update, or program) on all or selected boards/parts.

Examples:

  • To show board and firmware info for all parts:
./FirmwareUpdater.script.info.all.sh
  • To query the current firmware versions on all boards:
./FirmwareUpdater.script.query.all.sh
  • To verify that all boards have the required firmware version:
./FirmwareUpdater.script.verify.all.sh
  • To update all boards (only if not up-to-date):
./FirmwareUpdater.script.update.all.sh
  • To force programming of all boards (regardless of current version):
./FirmwareUpdater.script.program.all.sh

You can also find scripts for specific parts and actions, such as:

./FirmwareUpdater.script.info.left_arm.sh
./FirmwareUpdater.script.query.right_leg.sh
./FirmwareUpdater.script.verify.head.sh

These scripts are named using the pattern: FirmwareUpdater.script.<action>.<part or all>.sh

Use the script that matches the action and part you want to operate on.

Sidenotes

  • Always use the provided scripts unless you have a special need. If modifications are necessary, ensure you thoroughly understand the implications and double-check all parameters.
  • Do not edit scripts unless you understand the options.
  • Check logs in the ../logs/ directory after running a script.

For advanced customization, see the Step-by-Step Procedure below.

2. Automatic Firmware Update (AFU) by launching the manageFWrobot.py

If you need more control or want to understand the underlying process, you can use the manageFWrobot.py script directly.

Prerequisites

  • Ensure you have a working Python 3 environment.
  • Make sure the robot is powered on and connected to the network.
  • You have the correct network and firmware info XML files for your robot.

Step-by-Step Procedure

2.1 Prepare the XML Files

  • Network XML file (-n): Describes the robot's board configuration (e.g., network.iCubGenova02.xml).
    Location: robotology-superbuild/src/robots-configuration/
  • Firmware info XML file (-f): Lists firmware versions and file paths (e.g., firmware.info.xml).
    Location: robotology-superbuild/src/icub-firmware-build/info/

Note

Always verify that the firmware info file contains the correct versions and paths for your update.

2.2 Navigate to the Scripts Directory

Open a terminal and change directory to:

cd /path/to/robotology-superbuild/src/icub-firmware-build/scripts

2.3 Run the Firmware Updater Script

The general command structure is:

./manageFWrobot.py -n <network_file.xml> -f <firmware_info.xml> -p <part> -b <board_type> -a <action>

Example

./manageFWrobot.py -n network.iCubGenova02.xml -f ../info/firmware.info.xml -p left_leg -b foc -a update

Option Definitions

  • -n : Path to the network XML file describing the robot's boards.
  • -f : Path to the firmware info XML file with firmware versions and file locations.
  • -p : The robot part to operate on (e.g., face, left_arm, right_leg, all).
  • -b : The board type to target (e.g., foc, ems4, all).
  • -a : The action to perform. Common values:
  • info : Show board and firmware info.
  • query : Query current firmware versions on the boards.
  • verify : Check if boards have the required firmware version.
  • update : Update firmware only if the board is not up-to-date (recommended).
  • program : Force firmware programming regardless of current version.
  • -xb : (Optional) Exclude a specific board type from the operation.
  • -v : (Optional) Set verbosity level (0-3).

Tip

Favor the update action over program to avoid unnecessary reprogramming. The update action checks versions and only updates when needed.

Monitor the Output

  • The script will print progress and results to the terminal.
  • If errors occur, check the XML files and connections.

Additional Help

To see all available options and their descriptions, run:

python3 manageFWrobot.py --help

Troubleshooting

  • Ensure all XML files are correct and accessible.
  • Check network connectivity to the robot.
  • Use higher verbosity (-v 2 or -v 3) for more detailed logs.

References

Enjoy the firmware update process! If you encounter issues, consult the documentation or seek support from the iCub community.