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| Cortex is a server used by VisLab for '''development''' purposes (by contrast, the [[iCubBrain server configuration | iCubBrain]] servers are used for demos). | | Cortex is a server used by VisLab for running simulations (not the ones with the iCub robot). |
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| ''Old information can be consulted at [[Cortex/Archive]].'' | | ''Old information can be consulted at [[Cortex/Archive]].'' |
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| = Specifications = | | = Specifications = |
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| Since summer 2012, there is one machine (cortex1) with these specs:
| | 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 | | * 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 |
| * 16GB of memory (<code>sudo dmidecode --type 17</code> to see RAM speed and type) | | * 16GB of memory (<code>sudo dmidecode --type 17</code> to see RAM speed and type) |
| * 112GB SSD drive | | * 112GB SSD drive + 1TB HDD drive |
| * NVidia [http://www.geforce.com/hardware/desktop-gpus/geforce-gtx-670 GeForce GTX 670] graphics card (CUDA) | | * NVidia [http://www.geforce.com/hardware/desktop-gpus/geforce-gtx-670 GeForce GTX 670] graphics card (CUDA) |
| | | * internal ISR IP address: 10.10.1.1 |
| = Operating system installation =
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| In general, follow the guidelines at [[VisLab machines configuration]]. Below are some special notes.
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| = Additional software =
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| On this cluster, each user should manage his own yarp2 and iCub repositories. As a result, '''do not''' use system-wide installation of those (<strike><code>sudo make install</code></strike>): instead, simply use <code>make</code> and set your environment variables.
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| (We could use system-wide yarp2 again after we verify that a user can easily override global settings.)
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| == YARP and iCub ==
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| The yarp2 and iCub repositories are installed for user 'icub', similarly to [[iCubBrain server configuration]].
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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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| = Customization =
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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 ($PS1) ==
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| The prompt is set to <code>user@cortex?:pwd$</code> in <code>/etc/bash.bashrc</code>. With those settings, if you log in to Cortex1, the prompt will be <code>user@cortex1:~$</code>.
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| We chose to do so because sometimes it's convenient to have the number of the Cortex machine you're working on embedded in the prompt.
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| By default, though, this configuration is overridden in the users' <code>~/.bashrc</code> file, and the prompt is set to <code>user@source</code> regardless of the Cortex machine you log in to.<br>
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| If you want to inhibit this behaviour in <code>~/.bashrc</code> and thus have a prompt like <code>user@cortex?:pwd</code>, just comment these lines in your <code>~/.bashrc</code>:
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| # set a fancy prompt (non-color, unless we know we "want" color)
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| case "$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 <code>user@cortex?:pwd$</code> by default.
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| == Mounting network folders ==
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| The folder "database" on BlackHole is mounted automatically to /media/blackhole. See /etc/fstab for details.
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| [[Category:Vislab]] | | [[Category:Vislab]] |