= Install Barrett System under Ubuntu 14.04.1 LTS with Xenomai 2.6.4 = == Notice - Important Compatibility Notes == This software is NOT meant for use with the WAM's internal PC/104. It is configured for use with external PC's, and has only been tested with the following hardware configuration: * Motherboard: Advantech AIMB-584QG2-00A1E (Socket 1150, Broadwell) * Processor: Intel Core i3-4330 (Dual-core, 3.5GHz) * CAN Card: Dual-port PEAK-System PCI with 500V isolation, installed in 2nd PCI slot These instructions use the Kernel detailed here: [[BuildingAKernel/Ubuntu14.04-Kernel3.14.17-Xenomai2.6.4| Ubuntu 14.04.1 Kernel]] Before following these instructions, you should install a copy of [[http://old-releases.ubuntu.com/releases/14.04.1/ubuntu-14.04.1-desktop-amd64.iso| Ubuntu 14.04.1]], WITHOUT downloading any additional updates. == Install kernel from Debian == Download custom kernel {{{ sudo wget http://web.barrett.com/support/WAM_Installer/linux-image-3.14.17-xenomai-2.6.4.barrett_amd64.deb sudo wget http://web.barrett.com/support/WAM_Installer/linux-headers-3.14.17-xenomai-2.6.4.barrett_amd64.deb }}} Install custom kernel {{{ 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://web.barrett.com/support/WAM_Installer/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-2.6.4.1" }}} == 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 -y ppa:danielrichter2007/grub-customizer sudo apt-get update sudo apt-get install -y grub-customizer }}} Open the Grub 2 GUI and move kernel 3.14.17-xenomai-2.6.4 to the top of the list and save the configuration {{{ 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 -y g++ cmake libncurses5-dev spell subversion ssh python-dev python-argparse libeigen3-dev libboost1.46 libgsl0-dev libxenomai-dev libboost-all-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 compatible version of libbarrett git clone https://git.barrett.com/software/libbarrett.git cd libbarrett git checkout release-1.3.0 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 }}}