= Install Barrett System with Ubuntu 12.04.5 LTS Precise Pangolin and Xenomai 2.6.4 - __64-Bit External PC__ = '''Download and Install 64-bit Ubuntu 12.04.5 LTS Precise Pangolin from official image:'''[[BR]] [http://web.barrett.com/support/WAM_Installer/ubuntu-12.04-desktop-amd64.iso][[BR]] '''With Username: ''' robot[[br]] '''Password: ''' proficio[[br]] All other options default. '''__Install your new kernel from debian__'''[[br]] Log in to your new system, open a terminal, and get new kernel {{{ cd ~/ sudo wget http://web.barrett.com/support/WAM_Installer/linux-image-3.10.32-xenomai-2.6.4.barrett_amd64.deb sudo wget http://web.barrett.com/support/WAM_Installer/linux-headers-3.10.32-xenomai-2.6.4.barrett_amd64.deb #Install from Debian sudo dpkg -i linux-image-3.10.32-xenomai-2.6.4.barrett_amd64.deb sudo dpkg -i linux-headers-3.10.32-xenomai-2.6.4.barrett_amd64.deb #Cleanup sudo rm *.barrett_amd64.deb #Install Xenomai cd /usr/src sudo wget http://download.gna.org/xenomai/stable/xenomai-2.6.4.tar.bz2 sudo tar -xjf xenomai-2.6.4.tar.bz2 sudo rm xenomai-2.6.4.tar.bz2 #Some updating for GRUB sudo update-initramfs -c -k "3.10.32-xenomai-2.6.4" }}} '''__Set up Xenomai Group Permissions and GRUB 2__''' {{{ sudo addgroup xenomai sudo usermod -aG xenomai robot # now use the following command to identify the xenomai group id number egrep -i "^xenomai" /etc/group #find the group number that corresponds to the xenomai group. Usually: 1001 - will be referred to as #Update rc.local gksudo gedit /etc/rc.local #Copy the following as the last command before exit 0 /usr/xenomai/sbin/rtcanconfig rtcan0 -b 1000000 -c none start /usr/xenomai/sbin/rtcanconfig rtcan1 -b 1000000 -c none start #Save and close the updated file # Open the Grub2 file for editing gksudo gedit /etc/default/grub # Find the line of text that looks similar to below. GRUB_CMDLINE_LINUX_DEFAULT="quiet splash" # Add the kernel option "xeno_nucleus.xenomai_gid=". Make sure the use the correct groud id number! # The modified entry should look similar to: GRUB_CMDLINE_LINUX_DEFAULT="quiet splash xeno_nucleus.xenomai_gid=1001" # Save and close the updated menu file # Update your grub2 to reflect recent changes sudo update-grub #Install Grub Customizer to graphically make our new kernel the default sudo add-apt-repository ppa:danielrichter2007/grub-customizer sudo apt-get update sudo apt-get install grub-customizer #Open the Grub 2 GUI sudo grub-customizer #Click on entry Ubuntu, with Linux 3.10.32-xenomai-2.6.4 #Use the up arrow to move the entry as high as possible #Save and Exit }}} '''__Build the Xenomai userspace libs__''' {{{ cd /usr/src/xenomai-2.6.4 sudo ./configure --enable-dlopen-skins sudo make sudo make install sudo chgrp xenomai /dev/rtheap sudo chgrp xenomai /dev/rtp* }}} '''__Restart and Boot Your New RT Kernel__''' {{{ sudo shutdown -r now }}} '''__Install Barrett Technology Software__''' {{{ sudo apt-get update sudo apt-get install g++ cmake libncurses5-dev spell subversion ssh python-dev python-argparse libeigen2-dev libboost1.46 libgsl0-dev libxenomai-dev libboost-thread-dev libboost-python-dev python-visual libgtkglextmm-x11-1.2-dev git wget http://web.barrett.com/support/WAM_Installer/libconfig-barrett_1.4.5-1_amd64.deb sudo dpkg -i libconfig-barrett_1.4.5-1_amd64.deb #Get the latest version of libbarrett git clone https://git.barrett.com/software/libbarrett.git cd libbarrett cmake . make sudo make install sudo bash echo /usr/xenomai/lib/ | cat > /etc/ld.so.conf.d/xenomai.conf ldconfig exit #Install Proficio-P3 version of btclient and bash aliases git clone -b proficio_p3-svn https://git.barrett.com/software/btclient.git ~/btclient cd ~/btclient sh makeall mv .bash_aliases ../ cd . ~/.bashrc }}} '''__Install Proficio-Specific Software (SKIP FOR WAM PC)__''' {{{ sudo apt-get update sudo apt-get install libcgal-dev cd ~/ git clone https://git.barrett.com/software/proficio_toolbox.git cd proficio_toolbox mkdir build cd build cmake ../ make sudo make install }}}