# iCub Setup startup procedure¶

This section describes how to properly connect (by the network poit of view) and startup all the machines in a iCub setup

# Network configuration and connections¶

## Network schema¶

See iCubOS Networking section for further details

## Network configuration¶

By the networking point of view, the iCub setup is based on the following components:

• icub-server : this machine acts as a network gateway for the whole setup and implements several different network services such as DHCP, DNS, NTP and NFS
• icub-switch : this is the ethernet switch that connects all the setup components
• icub-wifi : this is the WiFi access point that creates the WiFi infrastructure that can be used (optionally) by the robot.
• icub-head : the PC inside the robot's head
• other machines : all other PCs you can add to the setup, where you can run your software (in this case icub-laptop and icub-cuda)

## Network connections¶

Before turning on the iCub setup, you should setup network connections properly as follows:

1. if you want to provide internet access to the setup, you have to connect a network cable to the Ethernet port marked as EXT (external) on the icub-server
2. connect the Ethernet port marked as INT (internal) on the icub-server to an Ethernet port on the icub-switch with an ethernet cable
3. connect an Ethernet port on the icub-wifi (do not use any port marked as INTERNET or WAN) to an Ethernet port on the icub-switch with an Ethernet cable
4. connect the Ethernet port on the back of the robot to an Ethernet port on the icub-switch with an Ethernet cable
5. connect Ethernet ports on the remaining PCs of the setup to Ethernet ports on the icub-switch with Ethernet cables

# iCub setup startup procedure¶

The iCub setup relies on several different network protocols and services, so it's mandatory to startup the machines with the correct sequence to allow the setup to operate correcly, if you do not follow it you can face problems or unexpected behaviours.

## Startup sequence¶

This is the correct startup procedure to follow every time you need to turn the whole system up:

1. Connect all the network cables as explained above (see Network connections above).
2. Connect the all the other needed power cables except the one from the icub-switch; do not turn on any appliance yet.
3. Connect the power cable of the icub-switch so it turns on, then wait for the POST procedure to complete; as the switch powers on, it begins the POST, a series of tests that runs automatically to ensure that the switch functions properly. LEDs can blink during the test. When the switch begins POST, the SYST, STAT, and SPEED LEDs turn green. The SYST LED blinks green, and the other LEDs remain solid green.When the switch completes POST successfully, the SYST LED remains green. The other LEDs turn off and then reflect the switch operating status. If a switch fails POST, the SYST LED turns amber. POST procedure lasts approximately between 3 and 5 minutes.
4. Turn the icub-server ON and wait at least 2 minutes while it completes the boot procedure.
5. (optional) Switch the icub-wifi ON and wait at for the POST procedure to complete, the POWER LED blinks while the POST procedure is on and turns solid white when it's over and the AP is ready. This step takes about 2 minutes to complete.
6. Turn the laptops on and login.
7. Now you can power the robot CPU ON (the icub-head takes about one minute to boot up) and then start playing with your software, have fun!