Chica

Preliminaries

• the iCub head called Chica has a PC104 and 1GB of RAM
• for operating system and software, we have the following setups

2008 hard disk setup

This 100GB drive mounts an installation of Windows XP. While having old versions of YARP, iCub (controlGaze2) etc., this setup is quite stable and contains working demos.

2010 solid state IDE drive setup

This 8GB drive mounts Ubuntu Desktop 9.10 32bit.

Partitions

Automated partitioning resulted in:

/      7.7GB   ext4
swap   400MB

After the default CD installation, we had 4.8GB of available free space on /.

Network

We configured the internet connection in Systems -> Preferences -> Network Connections:

address 10.10.1.60
netmask 255.255.255.0
gateway 10.10.1.254
dns servers: 193.136.128.1

Tweaks to minimize writes on the solid state drive

We implemented suggestions 1-3 of this article:

http://tombuntu.com/index.php/2008/09/04/four-tweaks-for-using-linux-with-solid-state-drives/

Backups (default Ubuntu configurations) are here:

/etc/fstab.bak

Additional packages and environment variables

• We installed some required packages:

sudo apt-get install gcc g++ make cmake subversion ssh libace-dev libgsl0-dev

• We created a file called ~/.bash_env (used by non-interactive sessions, namely commands launched via yarprun from another machine) containing these lines:

  export ICUB_DIR=/home/icub/iCub
  export ICUB_ROOT=$ICUB_DIR
  export YARP_DIR=/home/icub/yarp2
  export YARP_ROOT=$YARP_DIR
  export PATH=$PATH:$ICUB_DIR/bin
  export PATH=$PATH:$YARP_DIR/bin