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ICub server laptop installation instructions
These instructions only apply to YARP > 2.3.23 and iCub > 1.1.13 software versions
See ICub laptop installation instructions for old releases for older instructions
This page contains guidelines for installation of the iCub server laptop 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. You can freely decide to install 32 bit or 64 bit, the code compiles on both architectures. Be aware that if you plan to share the repository with other machines, all machines need to have the same architecture (32 versus 64 bits, same versions of the libraries). A possibility would be to share the same code directory and different builds.
Prerequisite : basic system setup for a iCub machine
Please follow the instructions on page Generic iCub machine installation instructions, in order to prepare a generic machine for the iCub network.
NOTE : set user as “icub” and hostname as “icubsrv” (not mandatory, but suggested)
Then, follow the below steps to customize it as the iCub Laptop
The host file
Add following lines in the file /etc/hosts
The laptop hosts two directories and export them using nfs. Both of the are mounted by the other machines on the network, by the PC104 and by the laptop iteself :
- /exports/code - this contains the robot software sources such as YARP, iCub Software.
- /local/yarp - this contains the YARP configuration files, shared by all the machine in the network
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:
sudo mkdir -p /exports/code sudo mkdir -p /exports/local_yarp
Set appropriate permissions to the icub user:
sudo chown icub:icub -R /exports/code sudo chown icub:icub -R /exports/local_yarp
- Now configure the nfs-kernel-server:
Add these lines to /etc/exports:
/exports/code 10.0.0.0/255.255.255.0(rw,sync,no_root_squash,no_subtree_check) /exports/local_yarp 10.0.0.0/255.255.255.0(rw,sync,no_root_squash,no_subtree_check)
You might need to restart the nfs server.
sudo /etc/init.d/nfs-kernel-server restart
Or just reboot the machine.
- Now configure the laptop to mount the shares (see Generic iCub machine installation instructions#mount_remote_NFS_shares )
Create a symbolic link to the code export path as follows (as root)
sudo ln -s /exports/code /usr/local/src/robot
Then clone the icub software repositories into /exports/code, as follows
cd /exports/code git clone https://github.com/robotology/yarp.git git clone https://github.com/robotology/icub-main.git git clone https://github.com/robotology/icub-firmware-shared git clone https://github.com/robotology/icub-firmware git clone https://github.com/robotology/icub-firmware-build
YARP local path
Create a symbolic link to the local yarp export path as follows (as root)
mkdir -p /home/icub/.local/share ln -s /exports/local_yarp /home/icub/.local/share/yarp
Install the ssh keys for password-less login on PC104
Log in as icub and create an ssh key.
ssh-keygen -t rsa
Leave all choises to default just by pressing return button
Upload this key file to pc104
ssh-copy-id -i /home/icub/.ssh/id_rsa.pub icub@pc104
IP forwarding and NAT
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 IP forwarding : edit the file /etc/sysctl.conf by modifying the below line as follows
net.ipv4.ip_forward = 1
Setup Network Address Translation : add the following file /etc/network/if-up.d/natting as follows
#!/bin/sh -e iptables --table nat --append POSTROUTING --out-interface wlan0 -j MASQUERADE iptables --append FORWARD --in-interface eth0 -j ACCEPT
Note about natting
Please check that:
- The name of your network interfaces are correct (in the above script wlan0 is the EXTERNAL interface - connecting to the external world - and eth0 is the INTERNAL interfaceg - connection to the PC104)
- The above script must be executable, otherwise you can made it executuable by
chmod a+x /etc/network/if-up.d/natting
Fix IP and DNS
Use the following configuration for the network
# The primary network interface auto eth0 allow-hotplug eth0 iface eth0 inet static address 10.0.0.1 netmask 255.255.255.0 network 10.0.0.0 broadcast 10.0.0.255 dns-search icub.local
Download the ntp package
sudo apt-get install ntp
Your Laptop has to be the clock of the connection with the pc104 in case of no internet access so replace those lines from the file /etc/ntp.conf
server 0.ubuntu.pool.ntp.org server 1.ubuntu.pool.ntp.org server 2.ubuntu.pool.ntp.org server 3.ubuntu.pool.ntp.org
or comment them by adding a # in front each lines and add those lines instead
# the folllowing lines make the server a master server server 127.127.1.0 # local clock fudge 127.127.1.0 stratum 10 broadcastdelay 0.008
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.
Installation of the pc104
You have to use one of the Linux images we provide. This page contains some information about the Linux on the pc104, and important instructions for installing the startup scripts: The_Linux_on_the_pc104.
Now you can install YARP and the iCub software both on the laptop and on the pc104: