ICubBrain: Difference between revisions
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= Operating system installation = | = Operating system installation = | ||
Next, we will explain how to configure the left part of the server, called '''icubbrain1'''. The settings for icubbrain2 will be just about the same, with the last octet of the IP address being 42 instead of 41. In general, we | Next, we will explain how to configure the left part of the server, called '''icubbrain1'''. The settings for icubbrain2 will be just about the same, with the last octet of the IP address being 42 instead of 41. In general, we follow the guidelines at [[VisLab machines configuration]]. | ||
== Boot == | == Boot == |
Revision as of 14:27, 7 October 2011
iCubBrain is a cluster of 2 machines used by VisLab to run stable demos (the other cluster, Cortex, is used for development).
Old information can be consulted at iCubBrain server configuration/Archive.
Specifications
We purchased iCubBrain from Tetragon in June 2009. The box includes a SC808T-980 1U chassis (1U Twin size) with two twin X7DWT serverboards. Each of the two boards hosts an Intel Xeon 8-core processor (8 x E5405 @ 2.00 GHz). Each machine is an independent computer, having two hard disk drive drawers and its own power and reset buttons.
Memory: 4GB for each machine (sudo dmidecode --type 17
to see RAM speed and type).
For full system specifications, go here (PDF) or on the entry on tsunami.pt
Current setup
machine | location | operating system | notes |
---|---|---|---|
icubbrain1 | left half of chassis | Ubuntu 10.04 LTS 64bit | administrator account: vislab; demo account: icub |
icubbrain2 | right half of chassis | Ubuntu 10.04 LTS 64bit | administrator account: vislab; demo account: icub |
Operating system installation
Next, we will explain how to configure the left part of the server, called icubbrain1. The settings for icubbrain2 will be just about the same, with the last octet of the IP address being 42 instead of 41. In general, we follow the guidelines at VisLab machines configuration.
Boot
Boot the Ubuntu Server CD from an external USB CD drive. Press the 'Del' key if you need to access the BIOS boot order.
Sometimes, you have to manually confirm the usage of a 'cdrom' module within the installation (following all the default selections).
Network interface
icubbrain1 has two Gbit interfaces. First we plug an Ethernet cable into the first one (which turns on the "1" led in the chassis front). Then, when Ubuntu asks to choose between eth0 and eth1, we pick up eth0.
Network configuration
- manually configure the internet connection (
/etc/network/interfaces
):
auto lo iface lo inet loopback auto eth0 iface eth0 inet static address 10.10.1.41 netmask 255.255.255.0 network 10.10.1.0 broadcast 10.10.1.255 gateway 10.10.1.254
Additional software
In general, follow the guidelines at VisLab machines configuration. Below are the exceptions.
YARP and iCub
Follow the instructions on the RobotCub software article. For compilation, do not use sudo make install
but simply make
(we have configured the PATH variable to find the latest compiled binaries, and we do not want two copies of the same thing on the system).
- Custom yarp2 configuration
CMAKE_BUILD_TYPE Release CREATE_LIB_MATH
- Custom iCub configuration: first compile IPOPT according to the official RobotCub wiki guide (http://eris.liralab.it/wiki/Installing_IPOPT), then proceed to configuring the actual iCub repository:
CMAKE_BUILD_TYPE Release ENABLE_icubmod_cartesiancontrollerclient ON ENABLE_icubmod_gazecontrollerclient ON
- iCub compilation
make make install_applications
- Final configuration
yarp namespace /icub