Changes between Initial Version and Version 1 of BuildingAPC/Lucid64Install


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Timestamp:
Mar 20, 2012, 1:48:34 PM (8 years ago)
Author:
kpm
Comment:

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

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  • BuildingAPC/Lucid64Install

    v1 v1  
     1= Install Barrett System with Ubuntu 10.04 and Xenomai 2.5.5.2 - __64-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-amd64.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_amd64.deb
     14sudo wget http://web.barrett.com/support/WAM_Installer/linux-headers-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb
     15
     16#Install from Debian
     17sudo dpkg -i linux-image-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb
     18sudo dpkg -i linux-headers-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb
     19
     20#Cleanup
     21rm linux-image-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb
     22rm linux-headers-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb
     23
     24#Some updating for GRUB
     25sudo update-initramfs -c -k "2.6.32-xenomai-2.5.5.2-ipipe"
     26}}}
     27
     28'''__Set up Xenomai Group Permissions and GRUB 2__'''
     29{{{
     30sudo addgroup xenomai
     31sudo usermod -aG xenomai robot
     32
     33sudo chgrp xenomai /dev/rtheap
     34sudo chgrp xenomai /dev/rtp*
     35
     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
     41
     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
     45
     46# Open the Grub2 file for editing
     47sudo vim /etc/default/grub
     48
     49# Find the line of text that looks similar to below.
     50GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"
     51
     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"
     55   
     56# Save and close the updated menu file
     57
     58# Finally, update your grub2 to reflect recent changes
     59sudo update-grub
     60}}}
     61
     62'''__Build the Xenomai userspace libs__'''
     63{{{
     64cd /usr/src/xenomai
     65sudo ./configure --enable-dlopen-skins
     66sudo make
     67sudo make install
     68}}}
     69
     70'''__Restart and Boot Your New RT Kernel__'''
     71{{{
     72sudo shutdown -r now
     73}}}
     74
     75'''__Test Your RT Kernel__'''
     76{{{
     77bash /usr/xenomai/bin/xeno-test
     78}}}
     79
     80'''__Install Barrett Technology Software__'''
     81{{{
     82svn co http://web.barrett.com/svn/libbarrett/dependencies/ ~/dependencies
     83cd ~/dependencies
     84
     85tar xjf eigen-2.0.12.tar.bz2
     86cd eigen
     87cmake . && make && sudo make install
     88cd ..
     89
     90tar xzf libconfig-1.4.5-PATCHED.tar.gz
     91cd libconfig-1.4.5
     92./configure && make && sudo make install
     93cd ..
     94
     95tar xjf boost_1_46_1.tar.bz2
     96cd boost_1_46_1/
     97./bootstrap.sh
     98sudo ./bjam --with-program_options --with-python --with-thread --with-signals --with-math --with-regex --with-filesystem --with-date_time install
     99cd ..
     100
     101tar xzf gsl-1.14.tar.gz
     102cd gsl-1.14
     103./configure && make && sudo make install
     104cd ..
     105
     106cd ..
     107sudo rm -Rf ~/dependencies
     108
     109sudo bash
     110echo /usr/xenomai/lib/ | cat > /etc/ld.so.conf.d/xenomai.conf
     111ldconfig
     112exit
     113
     114#check out the latest version of libbarrett
     115svn co http://web.barrett.com/svn/libbarrett/trunk/ ~/libbarrett
     116
     117sudo mkdir /etc/barrett
     118sudo cp ~/libbarrett/config/* /etc/barrett/
     119sudo chown -R robot:robot /etc/barrett/
     120
     121cd ~/libbarrett
     122cmake .
     123make
     124}}}