Cortex

Cortex is a cluster of 6 servers used by VisLab for development purposes (the other cluster, iCubBrain, is used for demos).

Old information can be consulted at Cortex/Archive.

Specifications

From an end-user perspective:

• each machine hosts an Intel Pentium Dual-Core processor (2 x E2180 @ 2.00GHz);
• memory: 2GB for each machine (sudo dmidecode --type 17 to see RAM speed and type).

More specifically:

• each of the client machines has the following specs: Intel Desktop DG965SS motherboard (info1, info2); Intel DualCore E2180 CPU @ 2 GHz with cache 1 MB; 2 x RAM 1GB DDR2 677 MHz; rackmount 19" 2U case from Chieftec (UNC-210S-B), with ATX 300W power supply;
• the server machine has similar specs plus Intel PRO 1000GTLP/ENet gigabit ethernet card; 2 x WD2500JS 250GB SATAII 8MB disks for software RAID-1.

Setup

The Cortex computation rack actually contains 7 machines:

• 1 server that manages startup, shutdown and the file system of the clients;
• 6 clients (named cortex1...cortex6) that run user processes.

All clients numbered 1 to 5 mount the same file system. Therefore, performing changes in the file system of cortex[1-5] will reflect to all other four clients. Beware, though, that because of the way the file systems are mounted, there is some caching going on. This improves disk access performance, but strange phenomena might happen, i.e., after a file is modified and saved on one client, other clients can continue to see the old version of it for some time (probably less than one minute). The client cortex6 is separate for now, because it runs a 64 bit Linux.

For further details, see the Cortex setup article.

Operating system installation

In general, follow the guidelines at VisLab machines configuration. Below are some special notes.

Additional software

On this cluster, each user should manage his own yarp2 and iCub repositories.

YARP

yarp2 is installed for user icub, similarly to iCubBrain server configuration.

For now, we don't use system-wide installation (sudo make install). We could use it again after we verify that a user can easily override global settings.

iCub

iCub is installed for user icub, similarly to iCubBrain server configuration.

For now, we don't use system-wide installation (sudo make install). We could use it again after we verify that a user can easily override global settings.

Other libraries, manually installed

Please list here the system-wide libraries and applications that were installed by the superuser, especially the ones that do not have a clean 'make install' procedure but were manually installed into /opt:

• ARToolKit
• Ipopt-3.5.5-linux-x86_32-gcc4.2.4

CMake 2.6 does not come with the version of Ubuntu currently installed, but it is needed by the latest version of yarp, so we installed it via this archive.

• cmake 2.6

Other libraries, installed with Ubuntu packages

These packages were installed with sudo apt-get install:

 libgtk2.0-dev libgtkmm-2.4-dev libglademm-2.4-dev glew-utils libglew1.5-dev libglut-dev git-core

OpenCV:

 libcv-dev libhighgui-dev libcvaux-dev

Customization

Network tuning

  sysctl -w net.core.rmem_max=8388608
  sysctl -w net.core.wmem_max=8388608
  sysctl -w net.core.rmem_default=65536
  sysctl -w net.core.wmem_default=65536
  sysctl -w net.ipv4.tcp_rmem='4096 87380 8388608'
  sysctl -w net.ipv4.tcp_wmem='4096 65536 8388608'
  sysctl -w net.ipv4.tcp_mem='8388608 8388608 8388608'
  sysctl -w net.ipv4.route.flush=1

Prompt ($PS1)

The prompt is set to user@cortex?:pwd$ in /etc/bash.bashrc. With those settings, if you log in to Cortex1, the prompt will be user@cortex1:~$. We chose to do so because sometimes it's convenient to have the number of the Cortex machine you're working on embedded in the prompt. By default, though, this configuration is overridden in the users' ~/.bashrc file, and the prompt is set to user@source regardless of the Cortex machine you log in to.
If you want to inhibit this behaviour in ~/.bashrc and thus have a prompt like user@cortex?:pwd, just comment these lines in your ~/.bashrc:

  # set a fancy prompt (non-color, unless we know we "want" color)
  case "$TERM" in
  xterm-color)
      PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
      ;;
  *)
      PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
      ;;
  esac

However, for users created after 2009-05-07, the prompt is already set to user@cortex?:pwd$ by default.