Cortex/Archive
Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to Cortex.
Specifications
During 2009-2012, the setup was the following.
From an end-user perspective:
- each machine hosts an Intel Pentium Dual-Core processor (2 x E2180 @ 2.00GHz);
- memory: 2GB for each machine.
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.
Additional setup
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
System-wide libraries and repositories
YARP
Presently (November 2010), the yarp2 SVN repository is installed under user yarp
(with sudo make install
), last updated on 13-July-2010. <-- change this policy?
iCub
Presently (November 2010), the iCub SVN repository is installed under user icub
(with sudo make install
), last updated on 13-July-2010. <-- change this policy?
There was a conflict with iKin, which could not find libipopt.so.0
, but it is now fixed thanks to setting the environment variable
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/
into /home/icub/.bash_env
.
One module has been disabled in the CMakeList.txt file, because it was not compiling properly: crawling.
User repositories
you should add <iCub>/bin to your PATH by editing your ~/.bashrc like this:
PATH=$PATH:~/iCub/bin/ ICUB_DIR=~/iCub/ <-- needs to change export ICUB_DIR ICUB_ROOT=$ICUB_DIR export ICUB_ROOT
You should also edit ~/.bash_env adding these lines:
export ICUB_DIR=$HOME/iCub <-- needs to change export ICUB_ROOT=$ICUB_DIR
this is needed when you connect non-interactively via ssh to a Cortex computer, for instance when execute a "yarp run ..." on a Cortex, from Chico2.
Be aware that Ubuntu 7.10 (the version currently installed on the cluster) has a conflict with iKin, specifically with iCub/conf/FindIPOPT.cmake (used by iKin): for now, in order to compile iKin, change the following line of FindIPOPT.cmake from
SET(IPOPT_LIB ${IPOPT_LIB} gfortranbegin gfortran)
to
SET(IPOPT_LIB ${IPOPT_LIB} gfortran)
Helper commands
These generic Linux commands should be written somewhere else, as they are not Cortex-specific
- Check the kernel:
uname -m
- Check the file versions:
file
- Set bash shell in
/etc/passwd
- Check disk space:
du –sh /home
- Check per-user processes:
ps -U <user>