|
|
| (148 intermediate revisions by 4 users not shown) |
| Line 1: |
Line 1: |
| Cortex is a computation rack for VisLab humanoid robots. | | Cortex is a server used by VisLab for running simulations (not the ones with the iCub robot). |
|
| |
|
| It contains 7 machines:
| | ''Old information can be consulted at [[Cortex/Archive]].'' |
| * 1 server that manages startup, shutdown and the file system of the clients.
| |
| * 6 clients that run the user processes.
| |
|
| |
|
| All clients mount the same file system. Therefore, performing changes in the file system of one of the clients will reflect to all others.
| | = Specifications = |
|
| |
|
| IP's and DNS:
| | As of 2017, there is one machine (cortex1) with these specs: |
| * Server: 10.10.1.240, server.visnet | | * 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 |
| * Client 1: 10.10.1.1, cortex1.visnet | | * 16GB of memory (<code>sudo dmidecode --type 17</code> to see RAM speed and type) |
| * Client 2: 10.10.1.2, cortex2.visnet
| | * 112GB SSD drive + 1TB HDD drive |
| * Client 3: 10.10.1.3, cortex3.visnet | | * NVidia [http://www.geforce.com/hardware/desktop-gpus/geforce-gtx-670 GeForce GTX 670] graphics card (CUDA) |
| * Client 4: 10.10.1.4, cortex4.visnet | | * internal ISR IP address: 10.10.1.1 |
| * Client 5: 10.10.1.5, cortex5.visnet | |
| * Client 6: 10.10.1.6, cortex6.visnet
| |
|
| |
|
| The server has:
| | [[Category:Vislab]] |
| * Boot folder for the clients at /tftpboot/pxelinux.cfg. Contains the files:
| |
| ** default - default boot file
| |
| ** <mac_address> - specific for a machine with the given mac address.
| |
| * startup scripts for each machine at /nfsroot/app
| |
| | |
| The clients have:
| |
| * A superuser account (compurack) to administer system wide settings (configurations, libs, etc)
| |
| * Normal user accounts. The logon script runs by default the content of file $HOME/.bash_env, where users can set their environment variables, e.g. export ICUB_DIR=$HOME/iCub.
| |
| * A yarp account to update and install the yarp library. YARP_DIR is set by default to /home/yarp/yarp2 to all users (in /etc/bash.bashrc).
| |
| | |
| Each user should manage its own iCub repository:
| |
| cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub
| |
| | |
| | |
| Yarp was set using the following commands (after logging in as yarp):
| |
| cvs -d:pserver:anonymous@yarp0.cvs.sourceforge.net:/cvsroot/yarp0 login
| |
| cvs -z3 -d:pserver:anonymous@yarp0.cvs.sourceforge.net:/cvsroot/yarp0 co -P yarp2
| |
| cd yarp2
| |
| cmake . (or ccmake .)
| |
| make
| |
| make test
| |
| | |
| | |
| Other system wide libraries/apps are installed by the superuser. Currently the following libraries are installed:
| |
| | |
| CURSES
| |
| apt-get install libncurses5-dev
| |
| | |
| ACE
| |
| apt-get install libace-dev
| |
| | |
| CMAKE
| |
| apt-get install cmake
| |
| | |
| GSL
| |
| apt-get install libgsl0-dev
| |
| | |
| GTK/GTKMM/GLADE
| |
| apt-get install libgtk2.0-dev
| |
| apt-get install libgtkmm-2.4-dev
| |
| apt-get install libglademm-2.4-dev
| |
| OPENCV
| |
| 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
| |
| | |
| | |
| Other configurations:
| |
| | |
| Tuning network:
| |
| 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
| |
| | |
| | |
| 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>
| |