= Install Barrett System with Ubuntu 12.04 LTS Precise Pangolin and Xenomai 2.6.1 - __32-Bit External PC__ = '''Download and Install 32-bit Ubuntu 12.04 LTS Precise Pangolin from official image:'''[[BR]] [http://releases.ubuntu.com/precise/ubuntu-12.04-desktop-i386.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 /usr/src sudo wget http://web.barrett.com/support/WAM_Installer/linux-image-3.2.21-xenomai-2.6.1.barrett_i386.deb sudo wget http://web.barrett.com/support/WAM_Installer/linux-headers-3.2.21-xenomai-2.6.1.barrett_i386.deb #Install from Debian sudo dpkg -i linux-image-3.2.21-xenomai-2.6.1.barrett_i386.deb sudo dpkg -i linux-headers-3.2.21-xenomai-2.6.1.barrett_i386.deb #Cleanup sudo rm *.barrett_i386.deb #Install Xenomai 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 #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 /usr/xenomai/sbin/rtcanconfig rtcan1 -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=". 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 3.2.21-xenomai-2.6.1 #Use the up arrow to move the entry as high as possible #Save and Exit }}} '''__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* sudo ldconfig }}} '''__Restart and Boot Your New RT Kernel__''' {{{ sudo shutdown -r now }}} '''__Test Your RT Kernel__''' {{{ /usr/xenomai/bin/xeno-test }}} '''__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 }}} That's it!! Enjoy your new 12.04 32-Bit PC!!