ICub laptop installation instructions for old releases

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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.