Chica: Difference between revisions
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== Tweaks to minimize writes on the solid state drive == | == Tweaks to minimize writes on the solid state drive == | ||
To enable suggestions 1-3 of [http://tombuntu.com/index.php/2008/09/04/four-tweaks-for-using-linux-with-solid-state-drives/ this article], use <code>/etc/fstab.optimizied</code> as <code>fstab</code>. | |||
Right now we do not use those tweaks, using the default <code>/etc/fstab.bak</code> as <code>fstab</code>. | |||
== Additional packages and environment variables == | == Additional packages and environment variables == | ||
Revision as of 12:42, 19 March 2010
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, with username icub.
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
To enable suggestions 1-3 of this article, use /etc/fstab.optimizied as fstab.
Right now we do not use those tweaks, using the default /etc/fstab.bak as fstab.
Additional packages and environment variables
- We installed some required packages:
sudo apt-get install gcc g++ make cmake cmake-curses-gui subversion ssh libace-dev libgsl0-dev
- We created a file called
~/.bash_env(used by interactive and non-interactive sessions, including commands launched via graphical demo managers andyarprun) 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
- Before the following line of
/etc/bash.bashrc
[ -z "$PS1" ] && return
we added this:
# per-user environment variables (non-interactive and interactive mode) source $HOME/.bash_env
Subversion security
We have set the following parameter in /etc/subversion/config:
store-passwords = no
This implies that SVN will ask you for your password every time you do a commit. (Don't worry about changing icub's personal ~/.subversion/config file: the parameter is not actually set there, so the global /etc setting is used.)
RobotCub software
Following the instructions in article RobotCub software, we installed the yarp2 and iCub repositories with SVN. In the CMake configurations, always set this for performance:
CMAKE_BUILD_TYPE Release
For the actual compilation, use
make
and do not run sudo make install afterwards.