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Setup ergoCub Screen

Info

This procedure applies only to ergocub-head and must be performed after the JetPack installation has been completed.

When you start the ergoCub head for the first time, the screen will display a desktop showing the NVIDIA logo. While this is generally fine, it requires the user to manually run the ergoCubEmotions module. This procedure allows you to hide all bars on the desktop and set the wallpaper to one of the images stored in the expressions folder.

Hide the Ubuntu Bar

This guide is based on these instructions.

  1. Create a script in the ergocub-head home directory:

    #!/bin/bash

status1=$(gdbus call --session --dest org.gnome.Shell --object-path /org/gnome/Shell --method org.gnome.Shell.Eval string:'Main.panel.actor.visible;')
status2=$(gdbus call --session --dest org.gnome.Shell.Extensions --object-path /org/gnome/Shell/Extensions --method org.gnome.Shell.Extensions.GetExtensionInfo ubuntu-dock@ubuntu.com | grep "'state': <2.0>" >/dev/null && echo "OFF" || echo "ON")

if [ "$status1" == "(true, 'false')" ]; then
  gdbus call --session --dest org.gnome.Shell --object-path /org/gnome/Shell --method org.gnome.Shell.Eval 'Main.panel.actor.show();'
else
  gdbus call --session --dest org.gnome.Shell --object-path /org/gnome/Shell --method org.gnome.Shell.Eval 'Main.panel.actor.hide();'
fi

if [ "$status2" == "ON" ]; then
  gdbus call --session --dest org.gnome.Shell.Extensions --object-path /org/gnome/Shell/Extensions --method org.gnome.Shell.Extensions.DisableExtension ubuntu-dock@ubuntu.com
else
  gdbus call --session --dest org.gnome.Shell.Extensions --object-path /org/gnome/Shell/Extensions --method org.gnome.Shell.Extensions.EnableExtension ubuntu-dock@ubuntu.com
fi

  2. Run the script to toggle hiding or showing the bars.

Change the Desktop Wallpaper

  1. SSH into the ergocub-head and use the following command to set the wallpaper:

    gsettings set org.gnome.desktop.background picture-uri <uri-of-the-wallpaper>

  2. If ergocub-software is installed via the robotology-superbuild, you can use this command:

    gsettings set org.gnome.desktop.background picture-uri file:///usr/local/src/robot/robotology-superbuild/src/ergocub-software/src/modules/ergoCubEmotions/expressions/images/exp_img_1.png

Clean the Icons from the Desktop

  1. Create a folder in the home directory to store the desktop files:

    mkdir ~/all_desktop

  2. Move all files from the desktop to the newly created folder:

    mv ~/Desktop/* ~/all_desktop/