Pc104
See pc104/Archive for information about the Ubuntu Server installation and tests that we performed in May 2009, to try to get rid of the laptop dependency. There were still a couple of unresolved issues with that method (dragonfly cameras and Canbus), therefore for the time being we went back to the original setup, explained next.
The pc104 CPU board is located into the iCub's head.
It boots from a read-only memory (using a Debian Live distribution), therefore it is necessary to mount an external partition to make permanent changes to files and perform basic I/O. This is accomplished by mounting an external partition on the pc104 at boot time.
Booting and Mounting
After booting, the pc104 mounts a part of the hard-disk of icubsrv (the Dell XPS laptop, IP address 10.10.1.51).
After that, it runs the scripts that are found in icubsrv's /exports/code-pc104/pc104/hooks directory. You can use those scripts for making some configuration permanent on pc104 and/or to run programs. They set up the yarp namespace, configure the keys for passwordless log-ins, etc.
Repositories on icubsrv laptop
Note that the icubsrv laptop has 2 repositories:
/export/code-64for the laptop itself (compiled for 64bit, rarely used)/export/code-pc104for pc104 (compiled for 32bit)
Therefore, if you want to update the repository used by pc104, you need to:
- open a pc104 shell window
- update and compile $YARP_ROOT and $ICUB_ROOT from there (i.e., not within an icubsrv shell, even though the files are physically there)
About the hook scripts
The common version of the hook scripts is located in the RobotCub repository, under /usr/local/src/robot/iCub/pc104/startupscripts/opencall/hooks (available, for example, on icubsrv). The procedure is to copy them to icubsrv's /exports/code-pc104/pc104/hooks and then to customize VisLab-specific settings there.