Changes between Initial Version and Version 1 of BuildingAPC/Precise64Install

Timestamp:

Jul 30, 2012, 2:05:46 PM (12 years ago)

Author:

dc

Comment:

--

BuildingAPC/Precise64Install

@@ +1 @@
+= Install Barrett System with Ubuntu 12.04 LTS Precise Pangolin and Xenomai 2.6.1 - __64-Bit External PC__ =
+
+'''Download and Install 64-bit Ubuntu 12.04 LTS Precise Pangolin from official image:'''[[BR]]
+[http://releases.ubuntu.com/precise/ubuntu-12.04-desktop-amd64.iso][[BR]]
+'''With Username: ''' robot[[br]]
+'''Password: ''' WAM[[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-3.2.21-xenomai-2.6.1.barrett_amd64.deb
+sudo wget http://web.barrett.com/support/WAM_Installer/linux-headers-3.2.21-xenomai-2.6.1.barrett_amd64.deb
+
+#Install from Debian
+sudo dpkg -i linux-image-3.2.21-xenomai-2.6.1.barrett_amd64.deb
+sudo dpkg -i linux-headers-3.2.21-xenomai-2.6.1.barrett_amd64.deb
+
+#Cleanup
+sudo rm *.barrett_amd64.deb
+
+#Install Xenomai
+cd /usr/src
+sudo wget http://download.gna.org/xenomai/stable/xenomai-2.6.1.tar.bz2
+sudo tar -xjf xenomai-2.6.1.tar.bz2
+sudo rm xenomai-2.6.1.tar.bz2
+
+
+#Some updating for GRUB
+sudo update-initramfs -c -k "3.2.21-xenomai-2.6.1"
+}}}
+
+'''__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 <gid>
+
+#Update rc.local
+sudo gedit /etc/rc.local
+#Copy the following as the last command before exit 0
+/usr/xenomai/sbin/rtcanconfig rtcan0 -b 1000000 -c none start
+#Save and close the updated file
+
+# Open the Grub2 file for editing
+sudo 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=<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
+grub-customizer
+
+#Click on entry Ubuntu, with Linux 2.6.32-xenomai-2.5.5.2-ipipe
+#Use the up arrow to move the entry as high as possible
+#Save and Exit
+
+#Reverts rsyslog to appropriate version for our kernel
+sudo gedit /etc/apt/sources.list
+}}}
+
+'''__Build the Xenomai userspace libs__'''
+{{{
+cd /usr/src/xenomai-2.6.1
+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
+
+
+sudo apt-get install libeigen2-dev libboost1.46-all-dev libgsl0-dev 
+
+
+wget http://web.barrett.com/svn/libbarrett/dependencies/libconfig-1.4.5-PATCHED.tar.gz
+tar xzf libconfig-1.4.5-PATCHED.tar.gz
+cd libconfig-1.4.5
+./configure && make && sudo make install
+cd ..
+rm -rf libconfig-1.4.5 libconfig-1.4.5-PATCHED.tar.gz
+
+#Get the latest version of libbarrett
+svn co http://web.barrett.com/svn/libbarrett/tags/libbarrett-1.1.0
+
+sudo mkdir /etc/barrett
+sudo chown -R robot:robot /etc/barrett/
+
+cd ~/libbarrett-1.1.0
+cmake . && make -j4 && sudo make install
+
+sudo bash
+echo /usr/xenomai/lib/ | cat > /etc/ld.so.conf.d/xenomai.conf
+ldconfig
+exit
+}}}