= Install Barrett System with Ubuntu 10.04 and Xenomai 2.5.5.2 - __64-Bit External PC__ = '''Download and Install 64-bit Ubuntu 10.04 LTS Lucid Lynx from official image:'''[[BR]] [http://releases.ubuntu.com/lucid/ubuntu-10.04.4-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-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb sudo wget http://web.barrett.com/support/WAM_Installer/linux-headers-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb #Install from Debian sudo dpkg -i linux-image-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb sudo dpkg -i linux-headers-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb #Cleanup rm linux-image-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb rm linux-headers-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb #Install Xenomai cd /usr/src sudo wget http://download.gna.org/xenomai/stable/xenomai-2.5.5.2.tar.bz2 sudo tar -xjf xenomai-2.5.5.2.tar.bz2 sudo rm xenomai-2.5.5.2.tar.bz2 #Some updating for GRUB sudo update-initramfs -c -k "2.6.32-xenomai-2.5.5.2-ipipe" }}} '''__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 sudo vim /etc/rc.local #Copy the following as the last command before exit 0 /usr/xenomai/sbin/rtcanconfig rtcan0-b 1000000 -c none start echo "" > /sys/module/xeno_nucleus/parameters/xenomai_gid #Save and close the updated file # 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 # Open the Grub2 file for editing sudo vim /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 # Finally, update your grub2 to reflect recent changes sudo update-grub }}} '''__Build the Xenomai userspace libs__''' {{{ cd /usr/src/xenomai-2.5.5.2 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 }}} '''__Test Your RT Kernel__''' {{{ bash /usr/xenomai/bin/xeno-test }}} '''__Install Barrett Technology Software__''' {{{ svn co http://web.barrett.com/svn/libbarrett/dependencies/ ~/dependencies cd ~/dependencies tar xjf eigen-2.0.12.tar.bz2 cd eigen cmake . && make && sudo make install cd .. tar xzf libconfig-1.4.5-PATCHED.tar.gz cd libconfig-1.4.5 ./configure && make && sudo make install cd .. tar xjf boost_1_46_1.tar.bz2 cd boost_1_46_1/ ./bootstrap.sh sudo ./bjam --with-program_options --with-python --with-thread --with-signals --with-math --with-regex --with-filesystem --with-date_time install cd .. tar xzf gsl-1.14.tar.gz cd gsl-1.14 ./configure && make && sudo make install cd .. cd .. sudo rm -Rf ~/dependencies sudo bash echo /usr/xenomai/lib/ | cat > /etc/ld.so.conf.d/xenomai.conf ldconfig exit #check out the latest version of libbarrett svn co http://web.barrett.com/svn/libbarrett/trunk/ ~/libbarrett sudo mkdir /etc/barrett sudo cp ~/libbarrett/config/* /etc/barrett/ sudo chown -R robot:robot /etc/barrett/ cd ~/libbarrett cmake . make }}}