Changes between Initial Version and Version 1 of BuildingAPC/Lucid64Install

Mar 20, 2012, 1:48:34 PM (8 years ago)

Instructions for 64-bit Ubuntu 10.04 Installation with Xenomai for an External PC


  • BuildingAPC/Lucid64Install

    v1 v1  
     1= Install Barrett System with Ubuntu 10.04 and Xenomai - __64-Bit External PC__ =
     3'''Download and Install 64-bit Ubuntu 10.04 LTS Lucid Lynx from official image:'''[[BR]]
     5'''With Username: ''' robot[[br]]
     6'''Password: ''' WAM[[br]]
     7All other options default.
     9'''__Install your new kernel from debian__'''[[br]]
     10Log in to your new system, open a terminal, and get new kernel
     12cd /
     13sudo wget
     14sudo wget
     16#Install from Debian
     17sudo dpkg -i linux-image-2.6.32-xenomai-
     18sudo dpkg -i linux-headers-2.6.32-xenomai-
     21rm linux-image-2.6.32-xenomai-
     22rm linux-headers-2.6.32-xenomai-
     24#Some updating for GRUB
     25sudo update-initramfs -c -k "2.6.32-xenomai-"
     28'''__Set up Xenomai Group Permissions and GRUB 2__'''
     30sudo addgroup xenomai
     31sudo usermod -aG xenomai robot
     33sudo chgrp xenomai /dev/rtheap
     34sudo chgrp xenomai /dev/rtp*
     36#Update rc.local
     37sudo vim /etc/rc.local
     38#Copy the following as the last command before exit 0
     39/usr/xenomai/sbin/rtcanconfig rtcan0-b 1000000 -c none start
     40#Save and close the updated file
     42# now use the following command to identify the xenomai group id number
     43egrep -i "^xenomai" /etc/group
     44#find the group number that corresponds to the xenomai group. Usually: 1001
     46# Open the Grub2 file for editing
     47sudo vim /etc/default/grub
     49# Find the line of text that looks similar to below.
     50GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"
     52# Add the kernel option "xeno_nucleus.xenomai_gid=1001". Make sure the use the correct groud id number!
     53# The modified entry should look similar to:
     54GRUB_CMDLINE_LINUX_DEFAULT="quiet splash xeno_nucleus.xenomai_gid=1001"
     56# Save and close the updated menu file
     58# Finally, update your grub2 to reflect recent changes
     59sudo update-grub
     62'''__Build the Xenomai userspace libs__'''
     64cd /usr/src/xenomai
     65sudo ./configure --enable-dlopen-skins
     66sudo make
     67sudo make install
     70'''__Restart and Boot Your New RT Kernel__'''
     72sudo shutdown -r now
     75'''__Test Your RT Kernel__'''
     77bash /usr/xenomai/bin/xeno-test
     80'''__Install Barrett Technology Software__'''
     82svn co ~/dependencies
     83cd ~/dependencies
     85tar xjf eigen-2.0.12.tar.bz2
     86cd eigen
     87cmake . && make && sudo make install
     88cd ..
     90tar xzf libconfig-1.4.5-PATCHED.tar.gz
     91cd libconfig-1.4.5
     92./configure && make && sudo make install
     93cd ..
     95tar xjf boost_1_46_1.tar.bz2
     96cd boost_1_46_1/
     98sudo ./bjam --with-program_options --with-python --with-thread --with-signals --with-math --with-regex --with-filesystem --with-date_time install
     99cd ..
     101tar xzf gsl-1.14.tar.gz
     102cd gsl-1.14
     103./configure && make && sudo make install
     104cd ..
     106cd ..
     107sudo rm -Rf ~/dependencies
     109sudo bash
     110echo /usr/xenomai/lib/ | cat > /etc/
     114#check out the latest version of libbarrett
     115svn co ~/libbarrett
     117sudo mkdir /etc/barrett
     118sudo cp ~/libbarrett/config/* /etc/barrett/
     119sudo chown -R robot:robot /etc/barrett/
     121cd ~/libbarrett
     122cmake .