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

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(Code installation)
(Other configurations)
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   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
 +
 +
* Clock synchronization. The internal clock of the pc104 resets every time the pc104 is restarted. It is important you configure your local network so that the pc104 has the correct time. In general it is a good idea if all the machines on the iCub network have synchronized clock. This page explains how to do this: [[Clock_synchronization|Clock synchronization]].
  
 
== Code installation ==
 
== Code installation ==

Revision as of 18:29, 25 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.

Creation of the icub user

You need to create the icub user. For nfs (see later) to work this user has to have the id 1000.

 adduser icub --uid 1000

Software Repository

The laptop hosts two directories and export them using nfs. One of these directories is mounted by the pc104 (/exports/code-pc104), the other is mounted by the other machines on the network and by the laptop iteself (/exports/code-64).

For this to work you need:

  • install nfs server on the laptop:
 sudo apt-get install nfs-kernel-server nfs-common portmap
  • creates 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:
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 

Configuration of the icub user

  • 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
  • Clock synchronization. The internal clock of the pc104 resets every time the pc104 is restarted. It is important you configure your local network so that the pc104 has the correct time. In general it is a good idea if all the machines on the iCub network have synchronized clock. This page explains how to do this: Clock synchronization.

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.

[Links missing]