Difference between revisions of "ICub laptop installation instructions for old releases"

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Line 20: Line 20:
 
Set appropriate permissions to the icub user:
 
Set appropriate permissions to the icub user:
  
    sudo chown icub:icub -R /exports/code-pc-104
+
  sudo chown icub:icub -R /exports/code-pc-104
    sudo chown icub:icub -R /exports/code-64
+
  sudo chown icub:icub -R /exports/code-64
  
 
* Now configure the nfs-server to export these directories:
 
* Now configure the nfs-server to export these directories:
Line 27: Line 27:
 
  Add these lines to /etc/exports:
 
  Add these lines to /etc/exports:
  
/exports/code-64 10.0.0.0/255.255.255.0(rw,sync,no_root_squash,no_subtree_check)
+
  /exports/code-64 10.0.0.0/255.255.255.0(rw,sync,no_root_squash,no_subtree_check)
/exports/code-pc104 10.0.0.0/255.255.255.0(rw,sync,no_root_squash,no_subtree_check)
+
  /exports/code-pc104 10.0.0.0/255.255.255.0(rw,sync,no_root_squash,no_subtree_check)
  
 
You might need to restart the nfs server.
 
You might need to restart the nfs server.
Line 39: Line 39:
  
 
Edit /etc/fstab and add:
 
Edit /etc/fstab and add:
    /exports/code-64  /usr/local/src/robot  none bind
+
 
 +
  /exports/code-64  /usr/local/src/robot  none bind
  
 
   Reboot or type  
 
   Reboot or type  
Line 50: Line 51:
 
   Log in as icub:
 
   Log in as icub:
  
    ssh -keygen - t dsa
+
  ssh -keygen - t dsa
    cp /home/icub/.ssh/id_rsa.pub /exports/code-pc104/pc104/hooks/keys/authorized_keys  
+
  cp /home/icub/.ssh/id_rsa.pub /exports/code-pc104/pc104/hooks/keys/authorized_keys  
    cp /home/icub/.ssh/id_rsa.pub /home/icub/ssh
+
  cp /home/icub/.ssh/id_rsa.pub /home/icub/ssh
  
 
* Configure bashrc. Add these lines in /home/icub/.bashrc:
 
* Configure bashrc. Add these lines in /home/icub/.bashrc:
  
    export ICUB_ROOT=/usr/local/src/robot/iCub
+
  export ICUB_ROOT=/usr/local/src/robot/iCub
    export ICUB_DIR=$ICUB_ROOT/main/build
+
  export ICUB_DIR=$ICUB_ROOT/main/build
    export YARP_ROOT=/usr/local/src/robot/yarp2
+
  export YARP_ROOT=/usr/local/src/robot/yarp2
    export YARP_DIR=$YARP_ROOT
+
  export YARP_DIR=$YARP_ROOT
    export ICUB_ROBOTNAME=NAME_OF_YOUR_ROBOT (e.g. iCubAberystwyth01)
+
  export ICUB_ROBOTNAME=NAME_OF_YOUR_ROBOT (e.g. iCubAberystwyth01)
    export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin
+
  export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin
  
 
== Other configurations ==
 
== Other configurations ==
Line 67: Line 68:
 
* It is handy to enable icub user to the sudoers
 
* It is handy to enable icub user to the sudoers
 
edit /etc/sudoers and add
 
edit /etc/sudoers and add
    icub  ALL=(ALL) ALL
+
  icub  ALL=(ALL) ALL
  
 
* Enable NAT and port forwarding so that the pc104 (and other machines on the network) have internet access (using wlan0 as external network interface)  
 
* Enable NAT and port forwarding so that the pc104 (and other machines on the network) have internet access (using wlan0 as external network interface)  
Line 73: Line 74:
 
Add these line in /etc/rc.local:
 
Add these line in /etc/rc.local:
  
    iptables -t nat -A POSTROUTING -o wlan0 -j MASQUERADE
+
  iptables -t nat -A POSTROUTING -o wlan0 -j MASQUERADE
    echo 1 > /proc/sys/net/ipv4/ip_forward
+
  echo 1 > /proc/sys/net/ipv4/ip_forward
  
 
== Code installation ==
 
== Code installation ==

Revision as of 22:45, 23 September 2010

This page contains guidelines for installation of the iCub server so that it matches the requirements of the Linux on the pc104 (open call configuration).

We assume you have installed a working Debian or Ubuntu on the laptop.

Software Repository

At the end of the boot the pc104 mounts an nfs share from the laptop. In addition the laptop exports a separate repository for other machines (and itself).

For this to work you need:

  • install nfs server on the laptop:
 sudo apt-get install nfs-kernel-server nfs-common portmap
  • creates the directory the directories that will be exported:
 mkdir /exports/code-64
 mkdir /exports/code-pc104

Respectively for the laptop/other machines and the pc104.

Set appropriate permissions to the icub user:

  sudo chown icub:icub -R /exports/code-pc-104
  sudo chown icub:icub -R /exports/code-64
  • Now configure the nfs-server to export these directories:
Add these lines to /etc/exports:
 /exports/code-64 10.0.0.0/255.255.255.0(rw,sync,no_root_squash,no_subtree_check)
 /exports/code-pc104 10.0.0.0/255.255.255.0(rw,sync,no_root_squash,no_subtree_check)

You might need to restart the nfs server.

 /etc/init.d/nfs-sever restart 

Or just reboot the machine.

  • Now configure the laptop to mount /exports/code-64 to /usr/local/src/robot

Edit /etc/fstab and add:

 /exports/code-64   /usr/local/src/robot  none bind
 Reboot or type 
 
 sudo mount -a 


  • Install ssh key
 Log in as icub:
 ssh -keygen - t dsa
 cp /home/icub/.ssh/id_rsa.pub /exports/code-pc104/pc104/hooks/keys/authorized_keys 
 cp /home/icub/.ssh/id_rsa.pub /home/icub/ssh
  • Configure bashrc. Add these lines in /home/icub/.bashrc:
 export ICUB_ROOT=/usr/local/src/robot/iCub
 export ICUB_DIR=$ICUB_ROOT/main/build
 export YARP_ROOT=/usr/local/src/robot/yarp2
 export YARP_DIR=$YARP_ROOT
 export ICUB_ROBOTNAME=NAME_OF_YOUR_ROBOT (e.g. iCubAberystwyth01)
 export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Other configurations

  • It is handy to enable icub user to the sudoers

edit /etc/sudoers and add

 icub  ALL=(ALL) ALL
  • Enable NAT and port forwarding so that the pc104 (and other machines on the network) have internet access (using wlan0 as external network interface)

Add these line in /etc/rc.local:

 iptables -t nat -A POSTROUTING -o wlan0 -j MASQUERADE
 echo 1 > /proc/sys/net/ipv4/ip_forward

Code installation

Now you can install YARP and the iCub software both on the laptop and on the pc104. Instructions are very similar, so we report only quick informations about the pc104.

Boot the pc104, login as icub. Checkout the code on /usr/local/src/robot. At the end you should have yarp and iCub directories. Compile following the instructions on the Manual.