In June 2009, we installed Ubuntu 8.04 LTS Server ('Hardy Heron') on the "1U Twin" servers that are to be used as '''iCub Brain''' (hence the name). The box includes a SC808T-980 1U chassis and two twin X7DWT serverboards. Each of the two boards hosts an Intel Xeon 8-core processor. They are two independent computers, each one with its hard disk, power button, reset button.
[[File:SYS-6015TW-INFB.jpg|frame|right|caption|Front and rear view of iCubBrain rack.]]
For full system specifications, go [http://www.supermicro.com/products/launch/Intel/files/seaburg/6015TW-T_6015TW-INF.pdf here (PDF)] or on [http://www.tsunami.pt/produtodescricao.aspx?idtipo=6&idlinha=18&idgama=62&idproduto=389 the entry] on tsunami.pt
iCubBrain is a cluster of 2 machines used by VisLab to run the computation behind stable robot '''demos'''.
== Current setup ==
''Old information can be consulted at [[iCubBrain/Archive]].''
{| class="wikitable" border="1"
= Specifications =
|-
! machine
! location
! operating system
! notes
|-
| '''icubbrain1'''
| left half of chassis
| Ubuntu 8.04 LTS '''64bit'''
|
* has IPOPT 3.5.5 (manual installation) installed but still TO FIX (iKinCartesianSolver)
* graphical system (<code>xorg [http://www.icewm.org/ icewm]</code>) and OpenGL development packages installed (<code>libglew15-dev libglut-dev libxmn-dev</code>)
|-
| '''icubbrain2'''
| right half of chassis
| Ubuntu 8.04 LTS '''32bit'''
| has IPOPT 3.5.5 working (precompiled version from the last link of [http://eris.liralab.it/wiki/Installing_IPOPT this page])
|}
== Operating system installation ==
This twin server was purchased from Tetragon in June 2009. The box includes a SC808T-980 1U chassis (1U Twin size) with two twin X7DWT serverboards. Each of the two boards hosts an Intel Xeon 8-core processor (8 x [http://ark.intel.com/products/33079/Intel-Xeon-Processor-E5405-(12M-Cache-2_00-GHz-1333-MHz-FSB) E5405] @ 2.00 GHz). Each machine is an independent computer, having two hard disk drive drawers and its own power and reset buttons.
The chassis contains two separate machines, each one having two hard disk drive drawers. Next, we will explain how we configured the left part of the server, called '''icubbrain1'''. The settings for icubbrain2 will be just about the same (unless otherwise noted, see above table), with the last octet of the IP address being 42 instead of 41.
Memory: 4GB for each machine (<code>sudo dmidecode --type 17</code> to see RAM speed and type).
=== Boot ===
For full system specifications, go [http://www.supermicro.com/products/launch/Intel/files/seaburg/6015TW-T_6015TW-INF.pdf here (PDF)] or on [http://web.archive.org/web/20100609080705/http://www.tsunami.pt/produtodescricao.aspx?idtipo=6&idlinha=18&idgama=62&idproduto=389] on tsunami.pt (archived page).
We booted the Ubuntu Server CD from an external USB CD drive without problems. We then had to manually confirm the usage of a 'cdrom' module within the installation (following all the default selections).
icubbrain1 has two Gbit interfaces. First we plugged an Ethernet cable into the first one (which turns on the "'''1'''" led in the chassis front). Then, when Ubuntu asked us to choose between eth0 and eth1, we picked up eth0.
= Operating system installation =
=== Partitions ===
Next, we will explain how to configure the left part of the server, called '''icubbrain1'''. The settings for icubbrain2 will be just about the same, with the last octet of the IP address being 42 instead of 41. In general, we follow the guidelines at [[iCub machines configuration]].
We chose the 'Guided - use entire disk' option, which yielded the following:
== Boot ==
{| border="1"
Boot the Ubuntu Server CD from an external USB CD drive. Press the 'Del' key if you need to access the BIOS boot order.
|+ Hard disk partitioning
! size !! mountpoint !! filesystem
|-
|133GB || / || ext3
|-
|5GB || || swap
|-
|}
=== Ubuntu installation parameters ===
Sometimes, you have to manually confirm the usage of a 'cdrom' module within the installation (following all the default selections).
* machine name: icubbrain1
== Network interface ==
* user name: icub
* software selection: OpenSSH
=== Operations after first boot ===
icubbrain1 has two Gbit interfaces. First we plug an Ethernet cable into the first one (which turns on the "'''1'''" led in the chassis front). Then, when Ubuntu asks to choose between eth0 and eth1, we pick up eth0.
* choose Main server (rather than Portugal server, which is incomplete) as the software repository. We do this by removing all the "pt." strings from /etc/apt/sources.list
* Create a file called ~/.bash_env (used by non-interactive sessions, namely commands launched via yarprun from another machine) containing these lines:
export ICUB_DIR=/home/icub/iCub
export ICUB_ROOT=$ICUB_DIR
export YARP_DIR=/home/icub/yarp2
export YARP_ROOT=$YARP_DIR
export PATH=$PATH:$ICUB_DIR/bin
export PATH=$PATH:$YARP_DIR/bin
export ICUB_ROBOTNAME=iCubLisboa01
and ''one'' of these two:
export IPOPT_DIR=/home/icub/Ipopt-3.6.1 // for icubbrain1 (manual compilation -- TO BE FIXED: TRY v3.6.0)
export IPOPT_DIR=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4 // for icubbrain2 (pre-compiled 32 bit binaries)
* Copy all that stuff at the bottom of ~/.bashrc, too (TODO: check if this step is redundant):
cat ~/.bash_env >> ~/.bashrc
* Then, before the following line of /etc/bash.bashrc
[ -z "$PS1" ] && return
add this:
# per-user environment variables (non-interactive and interactive mode)
cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub
For now, don't compile iCub but start installing YARP instead. ''(This is the most general approach which always works. However, since this machine does not have special iCub hardware to be found by YARP, like in the case of the PC104, then in this case we could've probably compiled straight ahead.)''
cvs -z3 -d:pserver:anonymous@yarp0.cvs.sourceforge.net:/cvsroot/yarp0 co -P yarp2
cd yarp2
IMPORTANT NOTE: BY MID DECEMBER 2009 YARP REPOSITORY WAS MOVED TO SVN. THE OLD CVS REPOSITORY HAS BEEN BACKED UP TO FOLDER YARP2_CVS AND NO LONGER BEING USED. THE COMMANDS ISSUED TO GET THE NEW SVN REPOSITORY WERE:
svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2
* Proceed with the configuration and compilation:
ccmake .
Click 'c' when CMake starts, then enable:
CREATE_DEVICE_LIBRARY_MODULES
CREATE_LIB_MATH
Click 'c' again, then choose
ENABLE_yarpmod_opencv_grabber
Click 'c' a couple of times more, until nothing happens when you do it. Now hit 'g': generate and quit.
make
make test
sudo make install
=== iCub: compiling and installing ===
* Off we go:
cd /home/icub/iCub
ccmake .
c ''<-- whenever necessary''
* Enable these modules:
BUILD_IN_ROOT ''<-- it is already ON, most likely''
''(I don't think we need more modules here. Right?)''
* And finally:
g
make
sudo make install
=== Final configuration ===
yarp namespace /icub
[[Category:Vislab]]
[[Category:Vislab]]
Latest revision as of 14:40, 23 October 2017
Front and rear view of iCubBrain rack.
iCubBrain is a cluster of 2 machines used by VisLab to run the computation behind stable robot demos.
This twin server was purchased from Tetragon in June 2009. The box includes a SC808T-980 1U chassis (1U Twin size) with two twin X7DWT serverboards. Each of the two boards hosts an Intel Xeon 8-core processor (8 x E5405 @ 2.00 GHz). Each machine is an independent computer, having two hard disk drive drawers and its own power and reset buttons.
Memory: 4GB for each machine (sudo dmidecode --type 17 to see RAM speed and type).
For full system specifications, go here (PDF) or on [1] on tsunami.pt (archived page).
Next, we will explain how to configure the left part of the server, called icubbrain1. The settings for icubbrain2 will be just about the same, with the last octet of the IP address being 42 instead of 41. In general, we follow the guidelines at iCub machines configuration.
Boot
Boot the Ubuntu Server CD from an external USB CD drive. Press the 'Del' key if you need to access the BIOS boot order.
Sometimes, you have to manually confirm the usage of a 'cdrom' module within the installation (following all the default selections).
Network interface
icubbrain1 has two Gbit interfaces. First we plug an Ethernet cable into the first one (which turns on the "1" led in the chassis front). Then, when Ubuntu asks to choose between eth0 and eth1, we pick up eth0.
Network configuration
manually configure the internet connection (/etc/network/interfaces):
auto lo
iface lo inet loopback
auto eth0
iface eth0 inet static
address 10.10.1.41
netmask 255.255.255.0
network 10.10.1.0
broadcast 10.10.1.255
gateway 10.10.1.254
