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:
​http://releases.ubuntu.com/lucid/ubuntu-10.04.4-desktop-amd64.iso
With Username: robot
Password: WAM
All other options default.

Install your new kernel from debian
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
sudo rm linux-image-2.6.32-xenomai-2.5.5.2-ipipe.Custom_amd64.deb
sudo 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 <gid>

#Update rc.local
sudo gedit /etc/rc.local
#Copy the following as the last commands before exit 0
/usr/xenomai/sbin/rtcanconfig rtcan0 -b 1000000 -c none start
/usr/xenomai/sbin/rtcanconfig rtcan1 -b 1000000 -c none start
echo "<gid>" > /sys/module/xeno_nucleus/parameters/xenomai_gid
#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=<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

sudo apt-get update
sudo apt-get install g++ cmake libncurses5-dev spell subversion ssh python-dev python-argparse

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 ..

sudo rm -Rf ~/dependencies

#Get the latest version of libbarrett
svn co http://web.barrett.com/svn/libbarrett/tags/libbarrett-1.2.1

sudo mkdir /etc/barrett
sudo chown -R robot:robot /etc/barrett/

cd ~/libbarrett-1.2.1
cmake .
make
sudo make install

sudo bash
echo /usr/xenomai/lib/ | cat > /etc/ld.so.conf.d/xenomai.conf
ldconfig
exit