Changes between Initial Version and Version 1 of BuildingAPC/14-04-1_64_Install

Timestamp:

Jul 15, 2016, 6:50:57 PM (8 years ago)

Author:

cv

Comment:

First pass

BuildingAPC/14-04-1_64_Install

@@ +1 @@
+= Install Barrett System under Ubuntu 14.04.1 LTS with Xenomai 2.6.4 =
+
+== Notice - Pre-release instructions ==
+This software has not been fully tested. It is meant for use with external PC's only (not the WAM's internal PC/104). We recommend using a standard OS and Kernel that ship with Barrett's products.
+
+== Install kernel from Debian ==
+{{{
+sudo dpkg -i linux-image-3.14.17-xenomai-2.6.4.barrett_amd64.deb
+sudo dpkg -i linux-headers-3.14.17-xenomai-2.6.4.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 "3.14.17-xenomai-2.6.4"
+}}}
+
+== Set up Xenomai ==
+
+{{{
+sudo addgroup xenomai
+sudo usermod -aG xenomai robot
+}}}
+
+Use the following command to identify the xenomai group id number
+{{{
+XENGRPNUM=$(egrep -i "^xenomai" /etc/group | cut -d':' -f 3)
+}}}
+
+Add kernel option with group id
+{{{
+sudo sed -i "s/quiet\ splash/quiet\ splash\ xeno_nucleus.xenomai_gid=$XENGRPNUM/" /etc/default/grub
+}}}
+
+Update rc.local
+{{{
+sudo sed -i '/exit\ 0/ i\/usr/xenomai/sbin/rtcanconfig\ rtcan0\ -b\ 1000000\ -c\ none\ start' /etc/rc.local
+sudo sed -i '/exit\ 0/ i\/usr/xenomai/sbin/rtcanconfig\ rtcan1\ -b\ 1000000\ -c\ none\ start' /etc/rc.local
+}}}
+
+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
+{{{
+echo "Please move kernel 3.14.17-xenomai-2.6.4 to the top of the list and save the configuration."
+read -n1 -r -p "Press any key to continue..." key
+sudo grub-customizer
+}}}
+
+== Build 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 your PC to complete Xenomai Setup ==
+
+{{{
+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://github.com/BarrettTechnology/libbarrett.git
+cd libbarrett
+cmake .
+make
+sudo make install
+mv .bash_aliases ../
+cd
+. ~/.bashrc
+
+sudo bash
+echo /usr/xenomai/lib/ | cat > /etc/ld.so.conf.d/xenomai.conf
+ldconfig
+exit
+
+#Install Xenomai 2.6.4 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
+}}}