Chico3/Archive

Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to Chico3 laptop machine configuration.

Initial 2009 installation

Additional RobotCub software

iCub: downloading the repository

In /home/icub, do:

 cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub

For now, don't compile iCub but start installing YARP instead. (This is the most general approach which always works. However, since this machine does not have special iCub hardware to be found by YARP, like in the case of the PC104, then in this case we could've probably compiled straight ahead.)

YARP

• Type this from the homedir (/home/icub):

  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

• (SKIP THIS POINT, AS THIS MACHINE IS NOT ATTACHED TO dragonfly esdMotionControl headcalibrator xsensmtx) Enter yarp2/conf and do:

  cp ExternalModules.cmake.template ExternalModules.cmake

then write the following lines in ExternalModules.cmake:

  SET(EXTERNAL_MODULES icub)
  SET(icub_DIR "/home/icub/iCub/src/modules")

• Proceed with the configuration and compilation:

  ccmake .

Click 'c' when CMake starts, then enable:

  COMPILE_NEW_YARPVIEW  <-- right?
  CREATE_DEVICE_LIBRARY_MODULES
  CREATE_GUIS
  CREATE_LIB_MATH

Click 'c' again, then choose

  ENABLE_yarpmod_opencv_grabber

Click 'c' a couple of times more, until nothing happens when you do it. Now hit 'g': generate and quit.

  make
  make test
  sudo make install

iCub: compiling and installing

• Off we go:

  cd /home/icub/iCub
  ccmake .
  c   <-- whenever necessary

• Enable these modules:

  BUILD_IN_ROOT
  CREATE_GUIS_GTK
  CREATE_GUIS_GTKMM
  CREATE_GUIS_QT

• And finally:

  g
  make
  sudo make install

Operating system installation

Partitions

We chose the 'Guided - use entire disk' option, which yielded the following:

Hard disk partitioning

size	mountpoint	filesystem
287GB	/	ext3
8GB		swap

Other operations performed

Additional packages and environment variables

• Copy all that stuff at the bottom of ~/.bashrc, too (this step could be redundant, provided that we always source .bash_env - TO CHECK):

  cat ~/.bash_env >> ~/.bashrc

Customization

Passwordless connection to other machines

• 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

PC104 authentication caveat

For pc104 it might be necessary to add a StrictHostKeyChecking=no option argument to ssh (because there are different incompatible keys depending on the pc104 hardware setup, i.e., with or without pen):

  gnome-terminal --window-with-profile=pc104 -e "ssh -o StrictHostKeyChecking=no icub@10.10.1.50 -X"