ICub laptop installation instructions for old releases
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.
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.
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
- 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
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.