= Install Barrett System to a PC = Install Ubuntu 9.10 from official image: http://releases.ubuntu.com/9.10/ubuntu-9.10-desktop-i386.iso User name: “robot” Password: “WAM” All other options default. Log in to your new system, open a terminal, and get new kernel {{{ cd / sudo wget http://web.barrett.com/support/WAM_Installer/ubuntu910xen2552.tar.bz2 sudo tar xvjf ubuntu910xen2552.tar.bz2 sudo rm ubuntu910xen2552.tar.bz2 }}} Make xenomai group {{{ sudo addgroup xenomai sudo usermod -aG xenomai robot }}} Downgrade from GRUB2 to GRUB {{{ sudo cp /etc/default/grub /etc/default/grub.old sudo cp -R /etc/grub.d /etc/grub.d.old sudo cp -R /boot/grub /boot/grub.old sudo aptitude purge grub2 grub-pc # System is unbootable until the next 3 commands succeed!!! sudo aptitude install grub sudo update-grub # Select 'y' to generate new menu.lst # Use your primary harddrive as the argument (probably "/dev/sda") sudo grub-install /dev/sda # Open the Grub menu file for editing gksudo gedit /boot/grub/menu.lst # Find the block of text that says "2.6.31.4-ipipe" (not "recovery mode"). Do NOT copy directly from this web site- your hard drive's UUID will be unique. # It looks similar to: title Ubuntu 9.10, kernel 2.6.31.4-ipipe uuid bbd03826-5ecd-4999-9a89-03846de55c0b kernel /boot/vmlinuz-2.6.31.4-ipipe root=UUID=bbd03826-5ecd-4999-9a89-03846de55c0b ro quiet splash initrd /boot/initrd.img-2.6.31.4-ipipe # Paste a copy of that block just above the line that reads "### BEGIN AUTOMAGIC KERNELS LIST" # Modify title of the copy to something distinct. # Also, add the kernel option "xeno_nucleus.xenomai_gid=1001". # The modified block should look similar to: title BARRETT DEFAULT: Ubuntu 9.10, kernel 2.6.31.4-ipipe uuid bbd03826-5ecd-4999-9a89-03846de55c0b kernel /boot/vmlinuz-2.6.31.4-ipipe root=UUID=bbd03826-5ecd-4999-9a89-03846de55c0b ro quiet splash xeno_nucleus.xenomai_gid=1001 initrd /boot/initrd.img-2.6.31.4-ipipe # Save and close the updated menu file # Reboot the system sudo shutdown -r now }}} Build Xenomai {{{ cd /usr/src/xenomai sudo ./configure sudo make sudo make install sudo chgrp xenomai /dev/rtheap sudo chgrp xenomai /dev/rtp* bash /usr/xenomai/bin/xeno-test cd wget http://web.barrett.com/support/WAM_Installer/rc.local.910 sudo mv rc.local.910 /etc/rc.local sudo chown root:root /etc/rc.local sudo chmod 755 /etc/rc.local sudo /etc/rc.local }}} Install required software {{{ wget http://web.barrett.com/support/WAM_Installer/inputrc mv inputrc ~/.inputrc sudo apt-get update sudo apt-get install g++ cmake libncurses5-dev spell subversion ssh svn co http://web.barrett.com/svn/btclient/trunk ~/btclient cd ~/btclient wget http://web.barrett.com/support/WAM_Installer/config-xeno.mk mv config-xeno.mk config.mk sh makeall 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-python --with-thread 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 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/build cmake .. make }}}