Cluster Management in VisLab

Cluster Manager is a python-based GUI that lets the user check and influence the status of "yarp run" on a cluster of computers.

To run Cluster Manager, just go to $ICUB_DIR/app/default/scripts and run

 ./icub-cluster.py 

by default, it reads configuration information from $ICUB_DIR/app/default/icub-cluster.xml (I GUESS, NOT SURE). We changed it to read configuration information from $ICUB_DIR/app/default/vislab-cluster.xml.

We had to write these two lines to ~/.bash_env on the Cortex machines (user icub) and on Chico2 in order to have remote execution with ssh to work:

 export ICUB_DIR=/home/icub/iCub
 export ICUB_ROOT=$ICUB_DIR

We had to create a /tmp/run directory on the Cortex machines (each one of them: these directories are different for each one), belonging to user icub (it should be writable by anyone, but I guess it's not at the moment), so that "yarp run" could run on those machines. I have no clue why this is needed: on pc104 such directory doesn't seem to exist. WARNING: the content of this directory might disappear when we restart the cortex computers, possibly causing problems.

The scripts yarprun.sh assumes every machine has a unique name, obtainable with the command: "uname -n". In Cortex it's not like that: you get "source" on all of the 5 cortex computers. So we copied the script to yarprunVislab.sh and changed a line as follows:

 #ID=/`uname -n`
 ID=/cortex` ifconfig eth0 | grep "inet addr" | awk '{print $2}' | awk -F: '{print $2}' | awk -F. '{print $4}'`

of course, we had to make a copy of $ICUB_DIR/scripts/icub-cluster.py to $ICUB_DIR/scripts/icub-clusterVislab.py and change all the invocation of yarprun.sh to yarprunVislab.sh in the latter.