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''See [[pc104/Archive]] for information about the Ubuntu Server installation and tests that we performed in May 2009, to try to get rid of the laptop dependency. There were still a couple of unresolved issues with that method (dragonfly cameras and Canbus), therefore for the time being we went back to the original setup, explained next.''
''See [[pc104/Archive]] for information about previous setups.''


The '''pc104 CPU board''' is located into the iCub's head.
The '''pc104 CPU board''' is located into the iCub's head and it runs a full (read/write) Debian distribution that boots from a USB pen drive.


It boots from a read-only memory (using a [http://debian-live.alioth.debian.org/ Debian Live distribution]), therefore it is necessary to mount an external partition to make permanent changes to files and perform basic I/O. This is accomplished by mounting an external partition on the pc104 at boot time.
= Booting and mounting =


== Booting and Mounting ==
During boot, the pc104 does two things: 1) it loads a Debian Live USB Flash Drive with Persistence; 2) it mounts remote NFS shares from the [[iCub laptop]].


After booting, the pc104 mounts a part of the hard-disk of '''icubsrv''' (the Dell XPS laptop, IP address <code>10.10.1.51</code>).
== USB Flash Drive ==


After that, it runs the scripts that are found in icubsrv's <code>/exports/code-pc104/pc104/hooks</code> directory. You can use those scripts for making some configuration permanent on pc104 and/or to run programs. They set up the yarp namespace, configure the keys for passwordless log-ins, etc.
With respect to the standard image provided by the official iCub support, our configuration differs in the following files:


=== Repositories on icubsrv laptop ===
.bashrc_iCub
/etc/network/interfaces
/etc/hosts
/etc/fstab
/etc/rc.iCub.d/mounts.list
/etc/rc.iCub.d/S90_mount-remote-fs.sh
/etc/timezone
/etc/resolv.conf
/etc/udev/rules.d/70-persistent-net.rules
/etc/default/ntpdate


Note that the icubsrv laptop has 2 repositories:
== NFS shares ==
* <code>/export/code-64</code> for the laptop itself (compiled for 64bit, rarely used)
* <code>/export/code-pc104</code> for pc104 (compiled for 32bit)


Therefore, if you want to update the repository used by pc104, you need to:
The mounted volume contains the yarp and iCub repositories (both code and binaries) and configuration files. The binaries are located in the respective '''build-pc104''' subdirectories.
# open a pc104 shell window
# open an icubsrv shell window
# on icubsrv: svn update $YARP_ROOT or $ICUB_ROOT (we need to do this from icubsrv because the version of svn on pc104 is too old)
# on pc104: build $YARP_ROOT or $ICUB_ROOT (the files are physically on icubsrv, but we need to issue the command from pc104 to obtain 32bit binaries)


== About the hook scripts ==
= Software =


The common version of the hook scripts is located in the RobotCub repository, under <code>/usr/local/src/robot/iCub/pc104/startupscripts/opencall/hooks</code> (available, for example, on icubsrv). The procedure is to copy them to icubsrv's <code>/exports/code-pc104/pc104/hooks</code> and then to customize VisLab-specific settings there.
* Dependencies for 640x480@30Hz images with Bayer encoding


== See also ==
sudo apt install libraw1394-dev libdc1394-22-dev


* [http://eris.liralab.it/wiki/Compilation_on_the_pc104 Compilation on the pc104]
* yarp CMake configuration
* [http://eris.liralab.it/wiki/The_Linux_on_the_pc104 The Linux on the pc104]
 
CMAKE_BUILD_TYPE Release
CREATE_DEVICE_LIBRARY_MODULES ON
YARP_COMPILE_libYARP_MATH ON
ENABLE_yarpmod_portaudio ON
ENABLE_yarpmod_serialport ON
 
CREATE_OPTIONAL_CARRIERS
ENABLE_yarpcar_bayer ON
ENABLE_yarpcar_mjpeg ON
 
* icub-main CMake configuration
 
CMAKE_BUILD_TYPE Release
ENABLE_icubmod_canBusAnalogSensor ON
ENABLE_icubmod_canBusSkin ON
ENABLE_icubmod_canBusVirtualAnalogSensor ON
ENABLE_icubmod_canmotioncontrol ON
ENABLE_icubmod_cartesiancontrollerclient ON
ENABLE_icubmod_cartesiancontrollerserver ON
ENABLE_icubmod_cfw2can ON
ENABLE_icubmod_dragonfly2 ON
ENABLE_icubmod_gazecontrollerclient ON
ENABLE_icubmod_parametricCalibrator ON
ENABLE_icubmod_sharedcan ON
ENABLE_icubmod_skinWrapper ON
ENABLE_icubmod_xsensmtx ON
 
* yarp configuration
 
# <code>yarp namespace /icub</code>
# <code>yarp conf 10.10.1.53 10000</code> (yarpserver runs on [[iCub laptop]])
 
The last command writes the information of the YARP server located on [[iCub laptop]] into the file specified by <code>yarp conf</code>, which is typically <code>/home/icub/.config/yarp/_icub.conf</code>. Warning: that command overwrites previous content.
 
* tuning and optimization
 
# make sure that <code>CMAKE_BUILD_TYPE=Release</code> for both yarp and icub-main
# <code>cat /proc/sys/net/core/rmem_max</code>  // should return 8388608
 
= Updating =
 
In addition to yarp and icub-main, '''icub-firmware-shared''' must also be updated (these are scripts, not the firmware itself).
In order to update the firmware, use the binaries in '''icub-firmware-build''' and follow the official iCub manual.
 
= See also =
 
* [http://wiki.icub.org/wiki/The_Linux_on_the_pc104 The Linux on the pc104]
* [http://wiki.icub.org/wiki/ICub_PC104_Linux_Image_-_Detailed_info ICub PC104 Linux Image - Detailed info]
* [http://wiki.icub.org/wiki/Compilation_on_the_pc104 Compilation on the pc104]
* [http://wiki.icub.org/wiki/Generic_iCub_machine_installation_instructions Generic iCub machine installation instructions]
* [http://wiki.icub.org/wiki/CFW002_PC104_linux_driver CFW002 PC104 linux driver]


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

Latest revision as of 16:08, 28 July 2019

See pc104/Archive for information about previous setups.

The pc104 CPU board is located into the iCub's head and it runs a full (read/write) Debian distribution that boots from a USB pen drive.

Booting and mounting

During boot, the pc104 does two things: 1) it loads a Debian Live USB Flash Drive with Persistence; 2) it mounts remote NFS shares from the iCub laptop.

USB Flash Drive

With respect to the standard image provided by the official iCub support, our configuration differs in the following files: 

.bashrc_iCub
/etc/network/interfaces
/etc/hosts
/etc/fstab
/etc/rc.iCub.d/mounts.list
/etc/rc.iCub.d/S90_mount-remote-fs.sh
/etc/timezone
/etc/resolv.conf
/etc/udev/rules.d/70-persistent-net.rules
/etc/default/ntpdate

NFS shares

The mounted volume contains the yarp and iCub repositories (both code and binaries) and configuration files. The binaries are located in the respective build-pc104 subdirectories.

Software

  • Dependencies for 640x480@30Hz images with Bayer encoding
sudo apt install libraw1394-dev libdc1394-22-dev
  • yarp CMake configuration
CMAKE_BUILD_TYPE Release
CREATE_DEVICE_LIBRARY_MODULES ON
YARP_COMPILE_libYARP_MATH ON
ENABLE_yarpmod_portaudio ON
ENABLE_yarpmod_serialport ON

CREATE_OPTIONAL_CARRIERS
ENABLE_yarpcar_bayer ON
ENABLE_yarpcar_mjpeg ON
  • icub-main CMake configuration
CMAKE_BUILD_TYPE Release
ENABLE_icubmod_canBusAnalogSensor ON
ENABLE_icubmod_canBusSkin ON
ENABLE_icubmod_canBusVirtualAnalogSensor ON
ENABLE_icubmod_canmotioncontrol ON
ENABLE_icubmod_cartesiancontrollerclient ON
ENABLE_icubmod_cartesiancontrollerserver ON
ENABLE_icubmod_cfw2can ON
ENABLE_icubmod_dragonfly2 ON
ENABLE_icubmod_gazecontrollerclient ON
ENABLE_icubmod_parametricCalibrator ON
ENABLE_icubmod_sharedcan ON
ENABLE_icubmod_skinWrapper ON
ENABLE_icubmod_xsensmtx ON
  • yarp configuration
  1. yarp namespace /icub
  2. yarp conf 10.10.1.53 10000 (yarpserver runs on iCub laptop)

The last command writes the information of the YARP server located on iCub laptop into the file specified by yarp conf, which is typically /home/icub/.config/yarp/_icub.conf. Warning: that command overwrites previous content.

  • tuning and optimization
  1. make sure that CMAKE_BUILD_TYPE=Release for both yarp and icub-main
  2. cat /proc/sys/net/core/rmem_max // should return 8388608

Updating

In addition to yarp and icub-main, icub-firmware-shared must also be updated (these are scripts, not the firmware itself). In order to update the firmware, use the binaries in icub-firmware-build and follow the official iCub manual.

See also

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