Pc104/Archive - Revision history

Giovanni Saponaro: clean up

2014-12-03T17:33:29Z

clean up

← Older revision		Revision as of 17:33, 3 December 2014
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	~~Between 2009-05-21 and 2009-05-26, we did some experiments with Ubuntu '''Server''~~' ~~8.04~~ 'Hardy Heron' on a 4GB Flash IDE memory attached to the pc104 CPU board. The objective was to get rid of the laptop (icubsrv) dependency, however there are still a couple of problems with libraries in YARP which at present are unsolved: dragonfly cameras and Canbus.		''If you want to look at the current setup, go back to [[pc104]].''

	If you want to look at the current setup, go back to [[pc104]].

	= 2009 notes =		= 2009 notes =

	Ubuntu Server 8.04 Installation		Ubuntu Server 8.04 Installation

			Between 2009-05-21 and 2009-05-26, we did some experiments with Ubuntu '''Server''' 8.04 'Hardy Heron' on a 4GB Flash IDE memory attached to the pc104 CPU board. The objective was to get rid of the laptop (icubsrv) dependency, however there are still a couple of problems with libraries in YARP which at present are unsolved: dragonfly cameras and Canbus.

	First of all, we changed the BIOS setting ''First Boot Device'' to: USB-CDROM. We had a Ubuntu Server 8.04 CD inside the drive. (It is apparently possible to boot and install directly from a Flash memory, but a CDROM installation is easier.)		First of all, we changed the BIOS setting ''First Boot Device'' to: USB-CDROM. We had a Ubuntu Server 8.04 CD inside the drive. (It is apparently possible to boot and install directly from a Flash memory, but a CDROM installation is easier.)

Giovanni Saponaro: clarify archive sections

2014-12-03T17:30:48Z

clarify archive sections

← Older revision		Revision as of 17:30, 3 December 2014
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	If you want to look at the current setup, go back to [[pc104]].		If you want to look at the current setup, go back to [[pc104]].

	= Ubuntu Server 8.04 Installation =		= 2009 notes =

			Ubuntu Server 8.04 Installation

	First of all, we changed the BIOS setting ''First Boot Device'' to: USB-CDROM. We had a Ubuntu Server 8.04 CD inside the drive. (It is apparently possible to boot and install directly from a Flash memory, but a CDROM installation is easier.)		First of all, we changed the BIOS setting ''First Boot Device'' to: USB-CDROM. We had a Ubuntu Server 8.04 CD inside the drive. (It is apparently possible to boot and install directly from a Flash memory, but a CDROM installation is easier.)
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	export PATH=$PATH:$YARP_DIR/bin		export PATH=$PATH:$YARP_DIR/bin

	= ~~Old~~ 2011 notes =		= 2011 notes =

	It boots from a read-only memory (using a [http://debian-live.alioth.debian.org/ Debian Live distribution]), therefore it is necessary to mount an external partition to make permanent changes to files and perform basic I/O. This is accomplished by mounting an external partition on the pc104 at boot time.		It boots from a read-only memory (using a [http://debian-live.alioth.debian.org/ Debian Live distribution]), therefore it is necessary to mount an external partition to make permanent changes to files and perform basic I/O. This is accomplished by mounting an external partition on the pc104 at boot time.
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	(to be completed)		(to be completed)

	= ~~Old~~ 2014 notes =		= 2014 notes =

	== Repositories on icubsrv laptop ==		== Repositories on icubsrv laptop ==

Giovanni Saponaro: /* Old 2014 notes */ archive iCubInterface pc104 CMake configuration

2014-10-07T11:38:44Z

Old 2014 notes: archive iCubInterface pc104 CMake configuration

← Older revision		Revision as of 11:38, 7 October 2014
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	# on pc104: cmake, make in <code>$YARP_DIR</code> (the files are physically on icubsrv, but we need to issue the command from pc104 to obtain 32bit binaries)		# on pc104: cmake, make in <code>$YARP_DIR</code> (the files are physically on icubsrv, but we need to issue the command from pc104 to obtain 32bit binaries)
	# on pc104: cmake, make, make install_applications in <code>$ICUB_DIR</code> (the files are physically on icubsrv, but we need to issue the command from pc104 to obtain 32bit binaries)		# on pc104: cmake, make, make install_applications in <code>$ICUB_DIR</code> (the files are physically on icubsrv, but we need to issue the command from pc104 to obtain 32bit binaries)

			== Software ==

			* Custom iCub configuration using iCubInterface

			CMAKE_BUILD_TYPE Release
			ENABLE_icubmod_canmotioncontrol ON
			ENABLE_icubmod_cartesiancontrollerclient ON
			ENABLE_icubmod_cartesiancontrollerserver ON
			ENABLE_icubmod_cfw2can ON
			ENABLE_icubmod_dragonfly2 ON
			ENABLE_icubmod_dragonfly2raw ON
			ENABLE_icubmod_icubarmcalibrator ON
			ENABLE_icubmod_icubarmcalibratorj8 ON
			ENABLE_icubmod_icubhandcalibrator ON
			ENABLE_icubmod_icubheadcalibrator ON
			ENABLE_icubmod_icubheadcalibratorV2 ON
			ENABLE_icubmod_icublegscalibrator ON
			ENABLE_icubmod_logpolarclient ON
			ENABLE_icubmod_logpolargrabber ON
			ENABLE_icubmod_skinprototype ON
			ENABLE_icubmod_xsensmtx ON

Giovanni Saponaro: archive obsolete information about icubsrv laptop

2014-09-30T12:39:57Z

archive obsolete information about icubsrv laptop

← Older revision		Revision as of 12:39, 30 September 2014
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	BUILD_IN_ROOT		BUILD_IN_ROOT
	(to be completed)		(to be completed)

			= Old 2014 notes =

			== Repositories on icubsrv laptop ==

			Note that the icubsrv laptop has 2 locations for the repositories:
			* <code>/exports/code-64</code> for the laptop itself (compiled for 64bit, rarely used)
			* <code>/exports/code-pc104</code> for pc104 (compiled for 32bit, this is the one that is actually used)

			== Updating the repositories ==

			First method: from a pc104 console, normally update and compile the repositories as if on a normal machine - see [[RobotCub software]] for details. Note that after compiling iCub you must type <code>make install_applications</code> as well: this will copy files from <code>$ICUB_ROOT/main/app/robots/iCubLisboa01</code> to <code>$ICUB_ROOT/app/iCubLisboa01</code> (check that the new versions are effectively copied).

			If the above method fails for any reason (old version of svn, internet problems with DNS or NTP, etc.) you can use the following workaround:
			# open a pc104 shell window
			# open an icubsrv shell window
			# on icubsrv: <code>svn update /exports/code-pc104/yarp2</code> and <code>/exports/code-pc104/iCub</code> (for now we need to do this from icubsrv because the version of svn on pc104 is too old)
			# on pc104: cmake, make in <code>$YARP_DIR</code> (the files are physically on icubsrv, but we need to issue the command from pc104 to obtain 32bit binaries)
			# on pc104: cmake, make, make install_applications in <code>$ICUB_DIR</code> (the files are physically on icubsrv, but we need to issue the command from pc104 to obtain 32bit binaries)

Giovanni Saponaro: /* Old 2011 notes */ archive: boot scripts

2011-11-25T16:20:29Z

Old 2011 notes: archive: boot scripts

← Older revision		Revision as of 16:20, 25 November 2011
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	After that, it runs the scripts that are found in icubsrv's <code>/exports/code-pc104/pc104/hooks</code> directory. You can use those scripts for making some configuration permanent on pc104 and/or to run programs. They set up the yarp namespace, configure the keys for passwordless log-ins, etc.		After that, it runs the scripts that are found in icubsrv's <code>/exports/code-pc104/pc104/hooks</code> directory. You can use those scripts for making some configuration permanent on pc104 and/or to run programs. They set up the yarp namespace, configure the keys for passwordless log-ins, etc.

			== About the hook scripts ==

			The common version of the hook scripts is located in the RobotCub repository, under <code>/usr/local/src/robot/iCub/pc104/startupscripts/opencall/hooks</code> (available, for example, on icubsrv). The procedure is to copy them to icubsrv's <code>/exports/code-pc104/pc104/hooks</code> and then to customize VisLab-specific settings there.

	== Software ==		== Software ==

Giovanni Saponaro: /* Old 2011 notes */ archive

2011-11-25T16:19:16Z

Old 2011 notes: archive

← Older revision		Revision as of 16:19, 25 November 2011
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	It boots from a read-only memory (using a [http://debian-live.alioth.debian.org/ Debian Live distribution]), therefore it is necessary to mount an external partition to make permanent changes to files and perform basic I/O. This is accomplished by mounting an external partition on the pc104 at boot time.		It boots from a read-only memory (using a [http://debian-live.alioth.debian.org/ Debian Live distribution]), therefore it is necessary to mount an external partition to make permanent changes to files and perform basic I/O. This is accomplished by mounting an external partition on the pc104 at boot time.

			== Booting and mounting ==

			After that, it runs the scripts that are found in icubsrv's <code>/exports/code-pc104/pc104/hooks</code> directory. You can use those scripts for making some configuration permanent on pc104 and/or to run programs. They set up the yarp namespace, configure the keys for passwordless log-ins, etc.

	== Software ==		== Software ==

Giovanni Saponaro: /* Old 2011 notes */ iCub CMake flags for old Chico head (iCubLisboa02)

2011-10-19T11:54:31Z

Old 2011 notes: iCub CMake flags for old Chico head (iCubLisboa02)

← Older revision		Revision as of 11:54, 19 October 2011
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	It boots from a read-only memory (using a [http://debian-live.alioth.debian.org/ Debian Live distribution]), therefore it is necessary to mount an external partition to make permanent changes to files and perform basic I/O. This is accomplished by mounting an external partition on the pc104 at boot time.		It boots from a read-only memory (using a [http://debian-live.alioth.debian.org/ Debian Live distribution]), therefore it is necessary to mount an external partition to make permanent changes to files and perform basic I/O. This is accomplished by mounting an external partition on the pc104 at boot time.

			== Software ==

			* Custom yarp2 configuration

			CMAKE_BUILD_TYPE Release
			CREATE_DEVICE_LIBRARY_MODULES ON
			CREATE_GUIS ON // probably not needed
			CREATE_LIB_MATH ON
			CREATE_YARPSERVER3 ON
			ENABLE_yarpmod_portaudio ON
			ENABLE_yarpmod_serial
			ENABLE_yarpmod_serialport

			* Custom iCub configuration

			BUILD_TESTING ON
			CMAKE_BUILD_TYPE Release
			ENABLE_icubmod_canmotioncontrol ON
			ENABLE_icubmod_cartesiancontrollerclient ON // not needed! this is for the servers
			ENABLE_icubmod_cartesiancontrollerserver ON
			ENABLE_icubmod_cfw2can ON
			ENABLE_icubmod_dragonfly2 ON
			ENABLE_icubmod_icubarmcalibrator ON
			ENABLE_icubmod_icubhandcalibrator ON
			ENABLE_icubmod_icubheadcalibrator ON
			ENABLE_icubmod_icublegscalibrator ON
			ENABLE_icubmod_logpolarclient ON
			ENABLE_icubmod_logpolargrabber ON
			ENABLE_icubmod_pcan ON // for the old head, now called iCubLisboa02
			ENABLE_icubmod_xsensmtx ON

	== Additional RobotCub software ==		== Additional RobotCub software ==

Giovanni Saponaro: /* Old 2011 notes */

2011-10-19T11:42:06Z

Old 2011 notes

← Older revision		Revision as of 11:42, 19 October 2011
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	= Old 2011 notes =		= Old 2011 notes =

			It boots from a read-only memory (using a [http://debian-live.alioth.debian.org/ Debian Live distribution]), therefore it is necessary to mount an external partition to make permanent changes to files and perform basic I/O. This is accomplished by mounting an external partition on the pc104 at boot time.

	== Additional RobotCub software ==		== Additional RobotCub software ==

Giovanni Saponaro at 11:40, 19 October 2011

2011-10-19T11:40:08Z

← Older revision		Revision as of 11:40, 19 October 2011
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	If you want to look at the current setup, go back to [[pc104]].		If you want to look at the current setup, go back to [[pc104]].

	== Ubuntu Server 8.04 Installation ==		= Ubuntu Server 8.04 Installation =

	First of all, we changed the BIOS setting ''First Boot Device'' to: USB-CDROM. We had a Ubuntu Server 8.04 CD inside the drive. (It is apparently possible to boot and install directly from a Flash memory, but a CDROM installation is easier.)		First of all, we changed the BIOS setting ''First Boot Device'' to: USB-CDROM. We had a Ubuntu Server 8.04 CD inside the drive. (It is apparently possible to boot and install directly from a Flash memory, but a CDROM installation is easier.)
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	At this point we have a minimal Linux system (474MB).		At this point we have a minimal Linux system (474MB).

	=== Network ===		== Network ==

	Change the IP to <code>10.10.1.50</code> by editing <code>/etc/network/interfaces</code> in the following way:		Change the IP to <code>10.10.1.50</code> by editing <code>/etc/network/interfaces</code> in the following way:
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	export PATH=$PATH:$ICUB_DIR/bin		export PATH=$PATH:$ICUB_DIR/bin
	export PATH=$PATH:$YARP_DIR/bin		export PATH=$PATH:$YARP_DIR/bin

			= Old 2011 notes =

	== Additional RobotCub software ==		== Additional RobotCub software ==

Giovanni Saponaro: monospace

2009-08-10T10:00:48Z

monospace

← Older revision		Revision as of 10:00, 10 August 2009
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	Here is our configuration on Ubuntu Server 8.04:		Here is our configuration on Ubuntu Server 8.04:
	* hostname: pc104		* hostname: <code>pc104</code>
	* automatic partitioning (which will partition the 4GB drive into an ext3 and a swap partition)		* automatic partitioning (which will partition the 4GB drive into an ext3 and a swap partition)
	* username: icub		* username: <code>icub</code>
	* no HTTP proxy		* no HTTP proxy
	* software selection: OpenSSH (which includes scp to copy files among machines), nothing else		* software selection: OpenSSH (which includes scp to copy files among machines), nothing else
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	=== Network ===		=== Network ===

	Change the IP to 10.10.1.50 by editing /etc/network/interfaces in the following way:		Change the IP to <code>10.10.1.50</code> by editing <code>/etc/network/interfaces</code> in the following way:
	auto lo		auto lo
	iface lo inet loopback		iface lo inet loopback
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	gateway 10.10.1.254		gateway 10.10.1.254

	Add the following lines in /etc/hosts (besides the already-existing lines):		Add the following lines in <code>/etc/hosts</code> (besides the already-existing lines):
	10.10.1.52 chico2		10.10.1.52 chico2
	10.10.1.1 cortex1		10.10.1.1 cortex1
Line 44:		Line 44:
	10.10.1.6 cortex6		10.10.1.6 cortex6

	Then, copy the content of directory ~/.ssh/ from a machine we have used in the past to connect to pc104 (e.g., icubsrv or chico2) to the pc104 itself. This will permit passwordless login sessions, necessary for yarprun and demos.		Then, copy the content of directory <code>~/.ssh/</code> from a machine we have used in the past to connect to pc104 (e.g., icubsrv or chico2) to the pc104 itself. This will permit passwordless login sessions, necessary for yarprun and demos.
	On the other machines of the network which we use to connect to pc104 (e.g., chico2, cortex cluster) you might need to delete a line of your ~/.ssh/known_hosts file (the "offending line" which contains an old key -- follow the ssh error message and just delete that line).		On the other machines of the network which we use to connect to pc104 (e.g., chico2, cortex cluster) you might need to delete a line of your <code>~/.ssh/known_hosts</code> file (the "offending line" which contains an old key -- follow the ssh error message and just delete that line).
	Now, passwordless logins to pc104 should be no problem from the other machines.		Now, passwordless logins to pc104 should be no problem from the other machines.

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	source $HOME/.bash_env		source $HOME/.bash_env

	Now create a file ~/.bash_env (used by non-interactive sessions, namely commands launched via yarprun from another machine) containing these variables:		Now create a file <code>~/.bash_env</code> (used by non-interactive sessions, namely commands launched via <code>yarprun</code> from another machine) containing these variables:
	export ICUB_DIR=/home/icub/iCub		export ICUB_DIR=/home/icub/iCub
	export ICUB_ROOT=$ICUB_DIR		export ICUB_ROOT=$ICUB_DIR
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	=== iCub: downloading the repository ===		=== iCub: downloading the repository ===

	In /home/icub, do:		In <code>/home/icub</code>, do:
	cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub		cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub

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	cd yarp2		cd yarp2

	Enter yarp2/conf and do:		Enter <code>yarp2/conf</code> and do:
	cp ExternalModules.cmake.template ExternalModules.cmake		cp ExternalModules.cmake.template ExternalModules.cmake
	then write the following lines in ExternalModules.cmake:		then write the following lines in ExternalModules.cmake:
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	=== iCub: compiling and installing ===		=== iCub: compiling and installing ===

	Enter iCub/ and do:		Enter <code>iCub/</code> and do:
	ccmake .		ccmake .
	c		c