|
|
| (142 intermediate revisions by 3 users not shown) |
| Line 1: |
Line 1: |
| We installed Ubuntu 8.04 LTS Desktop ('Hardy Heron') '''64 bit''' on the Tsunami laptop, dubbed chico3. For systems specifics click [http://www.tsunami.pt/catalogue/index.php?action=detailfo&rec=374&backLink=%2Fcatalogue%2Findex.php%3Faction%3Dsearchfo%26cat_id%3D94 here].
| | The black 17" Tsunami laptop, dubbed '''chico3''', was used as an interface to control to the iCub robot and to launch demos during 2009-2014. '''Go to the [[iCub laptop]] page for information on the new Toshiba laptop.''' |
|
| |
|
| == Operating system installation ==
| | Older information can be consulted at [[Chico3/Archive]]. |
|
| |
|
| We chose to go for Ubuntu 8.04 because it is proven to be stable and working well with the latest versions of ACE, YARP and OpenCV (as of May 2009).
| | = Specifications = |
|
| |
|
| === Partitions ===
| | * processor: Intel Core 2 Duo (2 x [http://ark.intel.com/products/35568/Intel-Core2-Duo-Processor-P8600-(3M-Cache-2_40-GHz-1066-MHz-FSB) P8600] @ 2.40 GHz) |
| | | * memory: 3GB |
| We chose the 'Guided - use entire disk' option.
| | * graphics card: Nvidia GeForce 9600M GT with 512MB of memory |
| | | * network card: RTL8168c/8111c, gigabit (1000baseT-FD) |
| {| border="1"
| |
| |+ Hard disk partitioning
| |
| ! size !! mountpoint !! filesystem
| |
| |-
| |
| |287GB || / || ext3
| |
| |-
| |
| |8GB || || swap
| |
| |-
| |
| |}
| |
| | |
| === Ubuntu installation parameters ===
| |
| | |
| * machine name: chico3 | |
| * user name: icub
| |
| | |
| === Operations after first boot ===
| |
| | |
| Operations performed after the standard installation:
| |
| | |
| * choose Main server (rather than Portugal server, which is incomplete) as the software repository. You can do this in System -> Administration -> Synaptic Package Manager -> Settings -> Repositories -> Download from: Main server
| |
| * system update
| |
| * enabled nvidia proprietary drivers (necessary to obtain a decent screen resolution)
| |
| * removed the package network-manager-gnome
| |
| | |
| == Other operations performed ==
| |
| | |
| === Network ===
| |
| | |
| * manually configured the internet connection (/etc/network/interfaces):
| |
| auto lo
| |
| iface lo inet loopback
| |
|
| |
| auto eth0
| |
| iface eth0 inet static
| |
| address 10.10.1.53 ''<-- this used to be venus' IP; not anymore''
| |
| netmask 255.255.255.0
| |
| network 10.10.1.0
| |
| broadcast 10.10.1.255
| |
| gateway 10.10.1.254
| |
| | |
| * added the following lines to /etc/hosts, to enable running commands like: ping cortex1.
| |
| 10.10.1.50 pc104
| |
| 10.10.1.51 icubsrv
| |
| 10.10.1.52 chico2
| |
| 10.10.1.53 chico3
| |
| 10.10.1.1 cortex1
| |
| 10.10.1.2 cortex2
| |
| 10.10.1.3 cortex3
| |
| 10.10.1.4 cortex4
| |
| 10.10.1.5 cortex5
| |
| | |
| * TODO: disable wifi (wlan0 and wmaster000 interfaces), for security and power consumption reasons
| |
| | |
| === Additional packages ===
| |
| | |
| * install some required packages:
| |
| sudo apt-get install libncurses5-dev libace-dev cmake libgsl0-dev libgtk2.0-dev libgtkmm-2.4-dev libglademm-2.4-dev cvs g++ subversion ssh
| |
| | |
| === Additional RobotCub software ===
| |
| | |
| ==== OpenCV ====
| |
| | |
| Ubuntu prepackaged version 1.0.0-4:
| |
| sudo apt-get install libcv1 libcvaux1 libcvaux-dev libcv-dev libhighgui1 libhighgui-dev opencv-doc python-opencv
| |
| | |
| ==== YARP ====
| |
| | |
| TODO
| |
| | |
| ==== iCub software ====
| |
| | |
| TODO
| |
| | |
| == More VisLab-specific configuration ==
| |
| | |
| * set up passwordless log-in to the Cortex computers:
| |
| #generate the public and private keys on this computer. enter empty strings when prompted for various answers.
| |
| ssh-keygen
| |
| #the cortex computers (ip addresses 10.10.1.1 to 10.10.1.5) share the same disk, so you need to do the set up only once.
| |
| | |
| #copy the public key you just generated to cortex1, on the user account you want to use there (e.g. icub).
| |
| scp /home/icub/.ssh/id_rsa.pub icub@10.10.1.1: ''<-- be sure to write the semicolon ":" at the end''
| |
| #log in as 'icub' to cortex1
| |
| ssh 10.10.1.1
| |
| #add the public key to the authorized ones
| |
| cat id_rsa.pub >> ~/.ssh/authorized_keys
| |
| #remove the id_rsa.pub file and log out from cortex1.
| |
| rm id_rsa.pub
| |
| exit
| |
| exit
| |
| #log in again to each cortex computer, to check that the process worked and they don't prompt for a password.
| |
| | |
| * set up passwordless log-in to pc104 | |
| | |
| pc104 boots from a read-only medium, so you cannot modify permanently its authorized_keys file.
| |
| pc104, though, mounts a part of icubsrv's hard-disk and then runs some scripts from there (see the [[pc104]] page for reference).
| |
| #copy the usual public key to the icubsrv (laptop)
| |
| scp id_rsa.pub icub@10.10.1.51:
| |
| #ssh to icubsrv
| |
| ssh icub@10.10.1.51
| |
| #add the key to the authorized ones
| |
| cat id_rsa.pub >> /exports/code-pc104/pc104/hooks/keys/authorized_keys
| |
| #rm the id_rsa.pub file
| |
| rm id_rsa.pub
| |
| | |
| Restart pc104 and check that you can log in passwordlessly. If you receive an RSA key error because of different pc104 hardware setups (with or without pen), thus different RSA keys, you can use this option:
| |
| ssh -o StrictHostKeyChecking=no pc104
| |
| | |
| == Customization of GNOME panel ==
| |
| | |
| We used the same [[Chico2 desktop machine configuration#Customization_of_GNOME_panel|buttons that we put on Chico2]]. We copied the files by typing this on Chico2:
| |
| scp ~/Pictures/* chico3:/home/icub/Pictures
| |
| and then manually adding the buttons one by one on the top toolbar of chico3.
| |
| | |
| [[Category:Vislab]]
| |