Chico2 desktop machine configuration: Difference between revisions
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PATH=$PATH:/home/vislab/YARP/yarp2/bin/ | PATH=$PATH:/home/vislab/YARP/yarp2/bin/ | ||
YARP_DIR=/home/vislab/YARP/yarp2/ | YARP_DIR=/home/vislab/YARP/yarp2/ | ||
YARP_ROOT= | export YARP_DIR | ||
YARP_ROOT=$YARP_DIR | |||
export YARP_ROOT | |||
* install OpenCV (Ubuntu prepackaged version 1.0.0-4) | * install OpenCV (Ubuntu prepackaged version 1.0.0-4) | ||
Line 56: | Line 58: | ||
add these lines to /etc/bash.bashrc: | add these lines to /etc/bash.bashrc: | ||
ICUB_DIR=/home/vislab/iCub/ | ICUB_DIR=/home/vislab/iCub/ | ||
ICUB_ROOT= | export ICUB_DIR | ||
ICUB_ROOT=$ICUB_DIR | |||
export ICUB_ROOT | |||
* set up passwordless log-in to the Cortex computers: | * set up passwordless log-in to the Cortex computers: |
Revision as of 14:26, 24 April 2009
Ubuntu 8.04
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=$PATH:/home/vislab/YARP/yarp2/bin/ YARP_DIR=/home/vislab/YARP/yarp2/ export YARP_DIR YARP_ROOT=$YARP_DIR export YARP_ROOT
- 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=/home/vislab/iCub/ export ICUB_DIR ICUB_ROOT=$ICUB_DIR export ICUB_ROOT
- 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".
- add buttons to the panel, to open terminals and file managers on remote machines.
pick the images you like and turn them into 48x48pixel gif images (you can use the GIMP for this). example for the button to open the gnome-terminal on cortex1: right click on the panel and select "add to panel" select "custom application launcher" click on the icon and select the directory where your icons are, typically ~/Pictures/ click on open, then select the picture for this particular button write in the field "command": gnome-terminal --window-with-profile=cortex -e "ssh demo@10.10.1.1 -X" set the name to something like: ssh demo@cortex1
the profile specified (--window-with-profile=cortex) does not exist by default, you need to create it. those profiles are used to give terminals on different machines different colors (e.g. all terminals running in a cortex computer will be blue, terminals local to chico2 will be white, etc.). to create the "cortex" profile: open a terminal on, say, cortex1 click on File, select "new profile" and name it "cortex", without
- edit file $ICUB_ROOT/app/default/scripts/config-nodes.sh like this:
NODE_CAMERAS=pc104 NODE_VIEWERS=chico2