Cortex: Difference between revisions

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Cortex is a computation rack for VisLab humanoid robots. It contains 7 machines:
Cortex is a server used by VisLab for running simulations (not the ones with the iCub robot).
* 1 server that manages startup, shutdown and the file system of the clients;
* 6 clients (named <code>cortex1</code>...<code>cortex6</code>) that run user processes.
All clients numbered 1 to 5 mount the same file system. Therefore, performing changes in the file system of cortex[1-5] will reflect to all other four clients.
The client <code>cortex6</code> is separate for now, because it runs a 64 bit Linux.


= Network setup =
''Old information can be consulted at [[Cortex/Archive]].''


Cortex machines are in the VisLab robotics network domain:
= Specifications =
* Domain: visnet
* Subnet: 10.10.1.*


== Cortex nodes ==
As of 2017, there is one machine (cortex1) with these specs:
 
* 8 x [http://ark.intel.com/products/65523/Intel-Core-i7-3770K-Processor-(8M-Cache-up-to-3_90-GHz) i7-3770K] @ 3.50GHz processor
Cortex server and clients have the following IPs and domain names:
* 16GB of memory (<code>sudo dmidecode --type 17</code> to see RAM speed and type)
* Server:  10.10.1.240, server.visnet
* 112GB SSD drive + 1TB HDD drive
* Client 1: 10.10.1.1,  cortex1.visnet
* NVidia [http://www.geforce.com/hardware/desktop-gpus/geforce-gtx-670 GeForce GTX 670] graphics card (CUDA)
* Client 2: 10.10.1.2,  cortex2.visnet
* internal ISR IP address: 10.10.1.1
* Client 3: 10.10.1.3,  cortex3.visnet
* Client 4: 10.10.1.4,  cortex4.visnet
* Client 5: 10.10.1.5,  cortex5.visnet
* Client 6: 10.10.1.6,  cortex6.visnet
 
== Other nodes ==
 
Other assigned ip's and names are:
* Gateway: 10.10.1.254, gtisr.visnet
* Cortex Switch: 10.10.1.250, swcompurack.visnet
* Vislab Switch: 10.10.1.251, swvislab.visnet
* iCubBrain1: 10.10.1.41, icubbrain1.visnet
* iCubBrain2: 10.10.1.42, icubbrain2.visnet
* DHCP Range: 10.10.1.100-199
* Chico pc104: 10.10.1.50
* Chico clients: 10.10.51-59
* Chica Net: 10.10.1.60-69
* Balta Net: 10.10.1.70-79
 
== DNS configuration ==
 
Name resolution in the visnet network is managed by a BIND system on the machine <code>server.visnet</code>. To add or change the table of names and IPs, do '<code>cd /etc/bind</code>', edit and change the file '<code>/visnet.src</code>' (need super user permission) and then run '<code>make</code>'. After a while (the tables must be copied to ISR DNS server, which may take a few minutes) you can ping the new machines by name.
 
As of September 2009, the configuration file is as follows:
 
## 10:45, 2 September 2009 (UTC)10:45, 2 September 2009 (UTC)10:45, 2 September 2009 (UTC)10:45, 2 September 2009 (UTC)[[User:Alex|Alex]]
## Tabela de DNS -- VisNet
## 10:45, 2 September 2009 (UTC)10:45, 2 September 2009 (UTC)10:45, 2 September 2009 (UTC)10:45, 2 September 2009 (UTC)[[User:Alex|Alex]]
##
domain("visnet")
prefix("10.10.1")
soa("server.isrnet", "alex", "isr.ist.utl.pt")
ns("server.visnet")
##
## Sintaxe:
## NOME ------- IP ---- COMENTARIO (entre aspas) ----------------------
##
a(cortex1, 1, "Compurack client 1")
a(cortex2, 2, "Compurack client 2")
a(cortex3, 3, "Compurack client 3")
a(cortex4, 4, "Compurack client 4")
a(cortex5, 5, "Compurack client 5")
a(cortex6, 6, "Compurack client 6")
a(cortex7, 7, "Compurack client 7")
a(icubbrain1, 41, "Supermicro 1")
a(icubbrain2,  42,    "Supermicro 2")
a(pc104, 50, "Chico pc104")
a(icubsrv, 51, "iCub chico")
a(chico2, 52, "iCub chico")
a(chico3, 53, "iCub chico")
a(chico4, 54, "iCub chico")
a(chico5, 55, "iCub chico")
a(chico6, 56, "iCub chico")
a(chico7, 57, "iCub chico")
a(chico8, 58, "iCub chico")
a(chico9, 59, "iCub chico")
a(chica, 60, "iCub chica")
a(chica1, 61, "iCub chica")
a(chica2, 62, "iCub chica")
a(chica3, 63, "iCub chica")
a(chica4, 64, "iCub chica")
a(chica5, 65, "iCub chica")
a(chica6, 66, "iCub chica")
a(chica7, 67, "iCub chica")
a(chica8, 68, "iCub chica")
a(chica9, 69, "iCub chica")
a(balta, 70, "Baltazar")
a(balta1, 71, "Baltazar")
a(balta2, 72, "Baltazar")
a(balta3, 73, "Baltazar")
a(balta4, 74, "Baltazar")
a(balta5, 75, "Baltazar")
a(balta6, 76, "Baltazar")
a(balta7, 77, "Baltazar")
a(balta8, 78, "Baltazar")
a(balta9, 79, "Baltazar")
range(dhcp-, 100, 199)
a(server, 240, "Compurack server")
a(swcompurack, 250, "Compurack switch")
a(swvislab, 251, "Vislab switch")
a(gtisr, 254, "gateway")
## -- EOF --
### Local Variables: ###
### gendns-keywords: ("^domain" "^prefix" "^soa" "^ns" "^mx" "^a" "^range" "^rangex" "^cname" ("\t" . highlight)) ###
### font-lock-defaults: (gendns-keywords nil t ((?# . "<") (?\n . ">")) nil) ###
### mode: font-lock ###
### End: ###
 
== Connectivity ==
Cortex machines are connected to Cortex Switch, that links to VisLab switch with a fiber optic connection of 4Gbit/s.
 
== Traffic ==
 
Network traffic can be checked at:
* http://inode1.isrnet/cacti (user guest, pass guest)
 
= Additional setup =
 
== Server machine ==
 
The server has:
* a boot folder for the clients at <code>/tftpboot/pxelinux.cfg</code>. It contains the files:
** <code>default</code> - default boot file;
** <mac_address> - specific for a machine with the given mac address.
* startup scripts for each machine at <code>/nfsroot/app</code>
 
== Client machines ==
 
The clients have:
* A superuser account (<code>compurack</code>) to administer system-wide settings (configurations, libraries, etc.)
* Normal user accounts. By default, the login script runs the contents of file <code>$HOME/.bash_env</code>, where users can set their environment variables, e.g., <code>export ICUB_DIR=$HOME/iCub</code>. This works for both interactive shell sessions and non-interactive ones (i.e., commands remotely invoked by <code>yarprun</code>).
* A <code>yarp</code> account to update and install the YARP library. Variable <code>YARP_DIR</code> is set by default to <code>/home/yarp/yarp2</code> for all users (in <code>/etc/bash.bashrc</code>).
* An <code>icub</code> account with sudo privileges (created with <code>sudo adduser icub admin</code> on 2009-06-30).
 
== System-wide libraries and repositories ==
 
=== YARP ===
 
As reported on the [[VisLab logbook]], in September 2009 we installed the [[RobotCub software | yarp2 SVN repository]] under user <code>yarp</code>, by downloading it and then performing <code>cmake .</code>, <code>make</code>, <code>sudo make install</code>.
 
We updated yarp on 13-July-2010.
 
=== iCub ===
 
As reported on the [[VisLab logbook]], in September 2009 we installed the [[RobotCub software | iCub SVN repository]] under user <code>icub</code>, by downloading it and then performing <code>cmake .</code>, <code>make</code>, <code>sudo make install</code>. There was a conflict with iKin, which could not find <code>libipopt.so.0</code>, but it is now fixed thanks to setting the environment variable
  LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/
into <code>/home/icub/.bash_env</code>.
 
We updated iCub on 13-July-2010.
Two modules have been disabled in the CMakeList.txt file, because they were not compiling properly: demoAffV2 and crawling.
 
=== Other libraries, manually installed ===
 
Please list here the system-wide libraries and applications that were installed by the superuser, especially the ones that do not have a clean 'make install' procedure but were manually installed into <code>/opt</code>:
 
* ARToolKit
* Ipopt-3.5.5-linux-x86_32-gcc4.2.4
 
CMake 2.6 does not come with the version of Ubuntu currently installed, but it is needed by the latest version of yarp, so we installed it via this [http://www.cmake.org/files/v2.6/cmake-2.6.4-Linux-i386.sh archive].
* cmake 2.6
 
=== Other libraries, cleanly installed ===
 
These packages were installed with <code>apt-get install</code>
  libncurses5-dev
  libace-dev
  libgsl0-dev
  libgtk2.0-dev libgtkmm-2.4-dev libglademm-2.4-dev
  glew-utils libglew1.5-dev
  libglut-dev
 
OpenCV:
  THE REPOSITORY IS NOW IN SVN FORM, WE NEED TO UPDATE THIS.
  cvs -z3 -d:pserver:anonymous@opencvlibrary.cvs.sourceforge.net:/cvsroot/opencvlibrary co -P opencv
  cd opencv
  ./configure
  make
  make install
  add /usr/local/lib to /etc/ld.so.conf
 
== User repositories ==
 
RE-THINK THIS POLICY (plus, we installed iCub svn):
 
Each user should manage its own repositories, e.g. the iCub repository:
  cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub
then you should add <iCub>/bin to your PATH by editing your ~/.bashrc like this:
  PATH=$PATH:~/iCub/bin/
  ICUB_DIR=~/iCub/
  export ICUB_DIR
  ICUB_ROOT=$ICUB_DIR
  export ICUB_ROOT
 
You should also edit ~/.bash_env adding these lines:
  export ICUB_DIR=$HOME/iCub
  export ICUB_ROOT=$ICUB_DIR
this is needed when you connect non-interactively via ssh to a Cortex computer, for instance when execute a "yarp run ..." on a Cortex, from Chico2.
 
Be aware that Ubuntu 7.10 (the version currently installed on the cluster) has a conflict with iKin, specifically with iCub/conf/FindIPOPT.cmake (used by iKin): for now, in order to compile iKin, change the following line of FindIPOPT.cmake from
  SET(IPOPT_LIB  ${IPOPT_LIB} gfortranbegin gfortran)
to
  SET(IPOPT_LIB  ${IPOPT_LIB} gfortran)
 
= Other configuration =
 
== Subversion ==
 
We have set the following parameter in <code>/etc/subversion/config</code>:
  store-passwords = no
This implies that SVN will ask you for your password every time you do a commit. (Don't worry about changing your personal <code>~/.subversion/config</code> file: the parameter is not actually set there, so the global <code>/etc</code> setting is used.)
 
== Network tuning ==
 
  sysctl -w net.core.rmem_max=8388608
  sysctl -w net.core.wmem_max=8388608
  sysctl -w net.core.rmem_default=65536
  sysctl -w net.core.wmem_default=65536
  sysctl -w net.ipv4.tcp_rmem='4096 87380 8388608'
  sysctl -w net.ipv4.tcp_wmem='4096 65536 8388608'
  sysctl -w net.ipv4.tcp_mem='8388608 8388608 8388608'
  sysctl -w net.ipv4.route.flush=1
 
== Prompt ($PS1) ==
The prompt is set to "user@cortex?:pwd$" in /etc/bash.bashrc. With those settings, if you log in to Cortex1, the prompt will be "user@cortex1:~$".
We chose to do so because sometimes it's convenient to have the number of the Cortex machine you're working on embedded in the prompt.
By default, though, this configuration is overridden in the users' ~/.bashrc file, and the prompt is set to "user@source" regardless of the Cortex machine you log in to.<br>
If you want to inhibit this behaviour in ~/.bashrc and thus have a prompt like "user@cortex?:pwd", just comment these lines in your ~/.bashrc:
  # set a fancy prompt (non-color, unless we know we "want" color)
  case "$TERM" in
  xterm-color)
      PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
      ;;
  *)
      PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
      ;;
  esac
However, for users created after 2009-05-07, the prompt is already set to "user@cortex?:pwd$" by default.
 
= Helper commands =
 
* Check the kernel : uname -m
 
* Check the file versions : file
 
* Set bash shell in /etc/passwd
 
* Check disk space: du –h –s /home
 
* Check per user processes: ps -U <user>


[[Category:Vislab]]
[[Category:Vislab]]

Latest revision as of 13:59, 26 January 2018

Cortex is a server used by VisLab for running simulations (not the ones with the iCub robot).

Old information can be consulted at Cortex/Archive.

Specifications

As of 2017, there is one machine (cortex1) with these specs:

  • 8 x i7-3770K @ 3.50GHz processor
  • 16GB of memory (sudo dmidecode --type 17 to see RAM speed and type)
  • 112GB SSD drive + 1TB HDD drive
  • NVidia GeForce GTX 670 graphics card (CUDA)
  • internal ISR IP address: 10.10.1.1
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