The Internet Communications Engine (Ice) is a third-party middleware framework that is used by ArmarX processes for communication.

Before running any ArmarX component, you should start the Ice system by calling

${ArmarXCore_DIR}/bin/armarx start

This will start two IceGrid nodes, the IceGrid registry and IceStorm.

As long as Ice is not explicitly terminated again by running 'armarx stop', you will not need to run 'armarx start' again. Therefore, it is usually sufficient to run 'armarx start' once after booting.