As the main additional heating system and the only means to heat the ions, ion cyclotron resonance heating (ICRH) plays a central role in plasma scenario developments on Tore Supra. Conversely, the specific focus of Tore Supra toward long-duration discharges places its heating system in an original position in the ion cyclotron community. High-power long-pulse requirements motivated innovative design choices and operational methods. Over long pulses, the physics of rf waves in the plasma edge early emerged as a crucial issue that was abundantly studied and benefited from original diagnostic techniques, some of which still remain unique in the magnetic fusion community. This paper reviews ICRH technology and physics on Tore Supra, from the generators and antennas to the central plasma via the scrape-off layer. Emphasis is put on the experience gained over 20 years of experimental and theoretical activity. Lessons are drawn for next-step devices.