Changes between Initial Version and Version 1 of BuildingAPC/Lucid32Install


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Timestamp:
May 25, 2012, 3:47:07 PM (12 years ago)
Author:
kpm
Comment:

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  • BuildingAPC/Lucid32Install

    v1 v1  
     1= Install Barrett System with Ubuntu 10.04 and Xenomai 2.5.5.2 - __32-Bit External PC__ =
     2
     3'''Download and Install 64-bit Ubuntu 10.04 LTS Lucid Lynx from official image:'''[[BR]]
     4[http://releases.ubuntu.com/lucid/ubuntu-10.04.4-desktop-i386.iso][[BR]]
     5'''With Username: ''' robot[[br]]
     6'''Password: ''' WAM[[br]]
     7All other options default.
     8
     9'''__Install your new kernel from debian__'''[[br]]
     10Log in to your new system, open a terminal, and get new kernel
     11{{{
     12cd /
     13sudo wget http://web.barrett.com/support/WAM_Installer/linux-image-2.6.32-xenomai-2.5.5.2-ipipe.Custom_i386.deb
     14sudo wget http://web.barrett.com/support/WAM_Installer/linux-headers-2.6.32-xenomai-2.5.5.2-ipipe.Custom_i386.deb
     15
     16#Install from Debian
     17sudo dpkg -i linux-image-2.6.32-xenomai-2.5.5.2-ipipe.Custom_i386.deb
     18sudo dpkg -i linux-headers-2.6.32-xenomai-2.5.5.2-ipipe.Custom_i386.deb
     19
     20#Cleanup
     21sudo rm linux-image-2.6.32-xenomai-2.5.5.2-ipipe.Custom_i386.deb
     22sudo rm linux-headers-2.6.32-xenomai-2.5.5.2-ipipe.Custom_i386.deb
     23
     24#Install Xenomai
     25cd /usr/src
     26sudo wget http://download.gna.org/xenomai/stable/xenomai-2.5.5.2.tar.bz2
     27sudo tar -xjf xenomai-2.5.5.2.tar.bz2
     28sudo rm xenomai-2.5.5.2.tar.bz2
     29
     30
     31#Some updating for GRUB
     32sudo update-initramfs -c -k "2.6.32.59+drm33.24-xenomai-2.5.5.2-ipipe"
     33}}}
     34
     35'''__Set up Xenomai Group Permissions and GRUB 2__'''
     36{{{
     37sudo addgroup xenomai
     38sudo usermod -aG xenomai robot
     39
     40# now use the following command to identify the xenomai group id number
     41egrep -i "^xenomai" /etc/group
     42#find the group number that corresponds to the xenomai group. Usually: 1001 - will be referred to as <gid>
     43
     44#Update rc.local
     45sudo gedit /etc/rc.local
     46#Copy the following as the last command before exit 0
     47/usr/xenomai/sbin/rtcanconfig rtcan0 -b 1000000 -c none start
     48echo "<gid>" > /sys/module/xeno_nucleus/parameters/xenomai_gid
     49#Save and close the updated file
     50
     51# Open the Grub2 file for editing
     52sudo gedit /etc/default/grub
     53
     54# Find the line of text that looks similar to below.
     55GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"
     56
     57# Add the kernel option "xeno_nucleus.xenomai_gid=<gid>". Make sure the use the correct groud id number!
     58# The modified entry should look similar to:
     59GRUB_CMDLINE_LINUX_DEFAULT="quiet splash xeno_nucleus.xenomai_gid=1001"
     60   
     61# Save and close the updated menu file
     62
     63# Finally, update your grub2 to reflect recent changes
     64sudo update-grub
     65}}}
     66
     67'''__Build the Xenomai userspace libs__'''
     68{{{
     69cd /usr/src/xenomai-2.5.5.2
     70sudo ./configure --enable-dlopen-skins
     71sudo make
     72sudo make install
     73sudo chgrp xenomai /dev/rtheap
     74sudo chgrp xenomai /dev/rtp*
     75}}}
     76
     77'''__Restart and Boot Your New RT Kernel__'''
     78{{{
     79sudo shutdown -r now
     80}}}
     81
     82'''__Test Your RT Kernel__'''
     83{{{
     84bash /usr/xenomai/bin/xeno-test
     85}}}
     86
     87'''__Install Barrett Technology Software__'''
     88{{{
     89sudo apt-get update
     90sudo apt-get install g++ cmake libncurses5-dev spell subversion ssh python-dev
     91
     92svn co http://web.barrett.com/svn/libbarrett/dependencies/ ~/dependencies
     93cd ~/dependencies
     94
     95tar xjf eigen-2.0.12.tar.bz2
     96cd eigen
     97cmake . && make && sudo make install
     98cd ..
     99
     100tar xzf libconfig-1.4.5-PATCHED.tar.gz
     101cd libconfig-1.4.5
     102./configure && make && sudo make install
     103cd ..
     104
     105tar xjf boost_1_46_1.tar.bz2
     106cd boost_1_46_1/
     107./bootstrap.sh
     108sudo ./bjam --with-program_options --with-python --with-thread --with-signals --with-math --with-regex --with-filesystem --with-date_time install
     109cd ..
     110
     111tar xzf gsl-1.14.tar.gz
     112cd gsl-1.14
     113./configure && make && sudo make install
     114cd ..
     115
     116cd ..
     117sudo rm -Rf ~/dependencies
     118
     119sudo bash
     120echo /usr/xenomai/lib/ | cat > /etc/ld.so.conf.d/xenomai.conf
     121ldconfig
     122exit
     123
     124#check out the latest version of libbarrett
     125svn co http://web.barrett.com/svn/libbarrett/tages/libbarrett-1.0.0 ~/libbarrett-1.0.0
     126
     127sudo mkdir /etc/barrett
     128sudo chown -R robot:robot /etc/barrett/
     129
     130cd ~/libbarrett-1.0.0
     131cmake .
     132make
     133sudo make install
     134}}}