Chico2 desktop machine configuration
Ubuntu 8.04
size | mountpoint | filesystem |
---|---|---|
498GB | / | ext3 |
2GB | swap |
machine name: chico2
user name: vislab
operations performed after the standard installation
- system update
- enabled nvidia drivers
- removed the package network-manager-gnome.
- manually configured the internet connection (/etc/network/interfaces):
auto lo iface lo inet loopback auto eth1 iface eth1 inet static address 10.10.1.52 netmask 255.255.255.0 network 10.10.1.0 broadcast 10.10.1.255 gateway 10.10.1.254
- install some required packages:
sudo apt-get install libncurses5-dev libace-dev cmake libgsl0-dev libgtk2.0-dev libgtkmm-2.4-dev libglademm-2.4-dev cvs g++ subversion ssh
- install YARP
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 cmake . (or ccmake .) make make test sudo make install
add these lines to /etc/bash.bashrc:
YARP_DIR=/home/vislab/YARP/yarp2/ export YARP_DIR YARP_ROOT=$YARP_DIR export YARP_ROOT
- install OpenCV (Ubuntu prepackaged version 1.0.0-4)
sudo apt-get install libcv1 libcvaux1 libcvaux-dev libcv-dev libhighgui1 libhighgui-dev opencv-doc python-opencv
- install the iCub software:
in /home/vislab/ cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub ccmake . make sudo make install
add these lines to /etc/bash.bashrc:
ICUB_DIR=/home/vislab/iCub/ export ICUB_DIR ICUB_ROOT=$ICUB_DIR export ICUB_ROOT
modify /etc/environment adding the path of the iCub binaries at the end of the PATH line:
PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/home/vislab/iCub/bin"
I'm not sure if this takes effect immediately, but after a reboot it does. this enables yarp run to find the binaries.
- create a local version of these configuration files, in $ICUB_DIR/app/default/scripts:
cp config.sh.template config.sh cp config-nodes.sh.template config-nodes.sh
- edit file $ICUB_ROOT/app/default/scripts/config-nodes.sh like this:
NODE_CAMERAS=pc104 NODE_VIEWERS=chico2
- set up passwordless log-in to the Cortex computers:
#generate the public and private keys on this computer. enter empty strings when prompted for various answers. ssh-keygen #the cortex computers (ip addresses 10.10.1.1 to 10.10.1.5) share the same disk, so you need to do the set up only once.
#copy the public key you just generated to cortex1, on the user account you want to use there (e.g. demo). scp /home/vislab/.ssh/id_rsa.pub demo@10.10.1.1: #log in to cortex1 ssh demo@10.10.1.1 #add the public key to the authorized ones cat id_rsa.pub >> ~/.ssh/authorized_keys #remove the id_rsa.pub file and log out from cortex1. rm id_rsa.pub exit exit #log in again to each cortex computer, to check that the process worked and they don't prompt for a password.
- 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 #restart pc104 and check that you can log in passwordlessly.
- add a second panel/bar at the top of the screen:
right click on the normal bar and select "new panel".
- add buttons to the panel/bar at the top of the screen, to open terminals and file managers on remote machines.
the top bar should look something like this when you're done:
pick the images you like and turn them into 48x48pixel gif images (you can use the GIMP for this). example for the button to open the gnome-terminal on cortex1: right click on the panel and select "add to panel" select "custom application launcher" click on the icon and select the directory where your icons are, typically ~/Pictures/ click on open, then select the picture for this particular button write in the field "command": gnome-terminal --window-with-profile=cortex -e "ssh demo@10.10.1.1 -X" set the name to something like: ssh demo@cortex1
the profile specified (--window-with-profile=cortex) does not exist by default, you need to create it. those profiles are used to give terminals on different machines different colors (e.g. all terminals running in a cortex computer will be blue, terminals local to chico2 will be white, etc.). to create the "cortex" profile: open a terminal on, say, cortex1 click on File, select "new profile" and name it "cortex", without