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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;
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| * 6 clients (named <code>cortex1</code>...<code>cortex6</code>) that run user processes.
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| 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.
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| The client <code>cortex6</code> is separate for now, because it runs a 64 bit Linux.
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| = Network setup =
| | ''Old information can be consulted at [[Cortex/Archive]].'' |
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| == Connectivity == | | = Specifications = |
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| Cortex machines are connected to Cortex Switch, that links to VisLab switch with a fiber optic connection of 4Gbit/s.
| | 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 nodes ==
| | * 16GB of memory (<code>sudo dmidecode --type 17</code> to see RAM speed and type) |
| | | * 112GB SSD drive + 1TB HDD drive |
| Cortex server and clients have the following IPs and domain names:
| | * NVidia [http://www.geforce.com/hardware/desktop-gpus/geforce-gtx-670 GeForce GTX 670] graphics card (CUDA) |
| * Server: 10.10.1.240, server.visnet
| | * internal ISR IP address: 10.10.1.1 |
| * Client 1: 10.10.1.1, cortex1.visnet
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| * Client 2: 10.10.1.2, cortex2.visnet
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| * Client 3: 10.10.1.3, cortex3.visnet
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| * Client 4: 10.10.1.4, cortex4.visnet
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| * Client 5: 10.10.1.5, cortex5.visnet
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| * Client 6: 10.10.1.6, cortex6.visnet | |
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| ''For further details, see the [[Vislab#Network]] and the [[VisLab network]] articles.''
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| = Additional setup =
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| == Server machine ==
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| The server has:
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| * a boot folder for the clients at <code>/tftpboot/pxelinux.cfg</code>. It contains the files:
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| ** <code>default</code> - default boot file;
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| ** <mac_address> - specific for a machine with the given mac address.
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| * startup scripts for each machine at <code>/nfsroot/app</code>
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| == Client machines ==
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| The clients have:
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| * A superuser account (<code>compurack</code>) to administer system-wide settings (configurations, libraries, etc.)
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| * 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>).
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| * 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>).
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| * An <code>icub</code> account with sudo privileges (created with <code>sudo adduser icub admin</code> on 2009-06-30).
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| == System-wide libraries and repositories ==
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| === YARP ===
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| 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>.
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| We updated yarp on 13-July-2010.
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| === iCub ===
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| 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
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| LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/
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| into <code>/home/icub/.bash_env</code>.
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| We updated iCub on 13-July-2010.
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| One module has been disabled in the CMakeList.txt file, because it was not compiling properly: crawling.
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| === Other libraries, manually installed ===
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| 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>:
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| * ARToolKit | |
| * Ipopt-3.5.5-linux-x86_32-gcc4.2.4 | |
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| 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].
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| * cmake 2.6
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| === Other libraries, cleanly installed ===
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| These packages were installed with <code>apt-get install</code>
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| libncurses5-dev
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| libace-dev
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| libgsl0-dev
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| libgtk2.0-dev libgtkmm-2.4-dev libglademm-2.4-dev
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| glew-utils libglew1.5-dev
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| libglut-dev
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| OpenCV:
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| THE REPOSITORY IS NOW IN SVN FORM, WE NEED TO UPDATE THIS.
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| cvs -z3 -d:pserver:anonymous@opencvlibrary.cvs.sourceforge.net:/cvsroot/opencvlibrary co -P opencv
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| cd opencv
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| ./configure
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| make
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| make install
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| add /usr/local/lib to /etc/ld.so.conf
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| == User repositories ==
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| RE-THINK THIS POLICY (plus, we installed iCub svn):
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| Each user should manage its own repositories, e.g. the iCub repository:
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| cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub
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| then you should add <iCub>/bin to your PATH by editing your ~/.bashrc like this:
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| PATH=$PATH:~/iCub/bin/
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| ICUB_DIR=~/iCub/
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| export ICUB_DIR
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| ICUB_ROOT=$ICUB_DIR
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| export ICUB_ROOT
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| You should also edit ~/.bash_env adding these lines:
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| export ICUB_DIR=$HOME/iCub
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| export ICUB_ROOT=$ICUB_DIR
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| 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.
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| 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
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| SET(IPOPT_LIB ${IPOPT_LIB} gfortranbegin gfortran)
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| to
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| SET(IPOPT_LIB ${IPOPT_LIB} gfortran)
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| = Other configuration =
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| == Subversion ==
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| We have set the following parameter in <code>/etc/subversion/config</code>:
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| store-passwords = no
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| This implies that SVN will ask you for your password every time you do a commit. (Don't worry about changing your personal <code>~/.subversion/config</code> file: the parameter is not actually set there, so the global <code>/etc</code> setting is used.)
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| == Network tuning ==
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| sysctl -w net.core.rmem_max=8388608
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| sysctl -w net.core.wmem_max=8388608
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| sysctl -w net.core.rmem_default=65536
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| sysctl -w net.core.wmem_default=65536
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| sysctl -w net.ipv4.tcp_rmem='4096 87380 8388608'
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| sysctl -w net.ipv4.tcp_wmem='4096 65536 8388608'
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| sysctl -w net.ipv4.tcp_mem='8388608 8388608 8388608'
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| sysctl -w net.ipv4.route.flush=1
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| == Prompt ($PS1) ==
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| The prompt is set to "user@cortex?:pwd$" in /etc/bash.bashrc. With those settings, if you log in to Cortex1, the prompt will be "user@cortex1:~$".
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| 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.
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| 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>
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| 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:
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| # set a fancy prompt (non-color, unless we know we "want" color)
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| case "$TERM" in
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| xterm-color)
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| PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
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| ;;
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| *)
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| PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
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| ;;
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| esac
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| However, for users created after 2009-05-07, the prompt is already set to "user@cortex?:pwd$" by default.
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| = Helper commands =
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| * Check the kernel : uname -m
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| * Check the file versions : file
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| * Set bash shell in /etc/passwd
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| * Check disk space: du –h –s /home
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| * Check per user processes: ps -U <user>
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| [[Category:Vislab]] | | [[Category:Vislab]] |