Chico2 desktop machine configuration

Ubuntu 8.04

Hard disk partitioning

size	mountpoint	filesystem
498GB	/	ext3
2GB		swap

machine name: chico2 user name: vislab

operations performed after the standard installation

• system update
• enabled nvidia drivers
• removed the package network-manager-gnome.
• manually configured the internet connection (/etc/network/interfaces):

  auto lo
  iface lo inet loopback
  
  auto eth1
  iface eth1 inet static
  address 10.10.1.52
  netmask 255.255.255.0
  network 10.10.1.0
  broadcast 10.10.1.255
  gateway 10.10.1.254

• install some required packages:

  sudo apt-get install libncurses5-dev libace-dev cmake libgsl0-dev libgtk2.0-dev libgtkmm-2.4-dev libglademm-2.4-dev cvs g++ subversion ssh

• install YARP

  mkdir ~/YARP
  cd ~/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

add these lines to /etc/bash.bashrc:

  PATH=$PATH:/home/vislab/YARP/yarp2/bin/
  YARP_DIR=/home/vislab/YARP/yarp2/
  YARP_ROOT=/home/vislab/YARP/yarp2/

• install OpenCV (Ubuntu prepackaged version 1.0.0-4)

  sudo apt-get install libcv1 libcvaux1 libcvaux-dev libcv-dev libhighgui1 libhighgui-dev opencv-doc python-opencv 

• install the iCub software:

  in /usr/local/src: 
  sudo cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub

add these lines to /etc/bash.bashrc:

  ICUB_DIR=/usr/local/src/iCub
  ICUB_ROOT=/usr/local/src/iCub

• set up passwordless log-in to the Cortex computers:

  #generate the public and private keys on this computer. enter empty strings when prompted for various answers.
  ssh-keygen   
  #the cortex computers (ip addresses 10.10.1.1 to 10.10.1.5) share the same disk, so you need to do the set up only once.

  #copy the public key you just generated to cortex1, on the user account you want to use there (e.g. demo).
  scp /home/vislab/.ssh/id_rsa.pub demo@10.10.1.1:   
  #log in to cortex1
  ssh demo@10.10.1.1
  #add the public key to the authorized ones
  cat id_rsa.pub  >> ~/.ssh/authorized_keys   
  #remove the id_rsa.pub file and log out from cortex1.
  rm id_rsa.pub
  exit
  exit
  #log in again to each cortex computer, to check that the process worked and they don't prompt for a password.

• set up passwordless log-in to pc104

pc104 boots from a read-only medium, so you cannot modify permanently its authorized_keys file. pc104, though, mounts a part of icubsrv's hard-disk and then runs some scripts from there (see the pc104 page for reference).

  #copy the usual public key to the icubsrv (laptop)
  scp id_rsa.pub icub@10.10.1.51:
  #ssh to icubsrv
  ssh icub@10.10.1.51
  #add the key to the authorized ones
  cat id_rsa.pub /exports/code-pc104/pc104/hooks/keys/authorized_keys
  #rm the id_rsa.pub file
  rm id_rsa.pub
  #restart pc104 and check that you can log in passwordlessly.

• add a second panel/bar at the top of the screen:

  right click on the normal bar and select "new panel".