Changes between Initial Version and Version 1 of BuildingAPC/Lucid64Install

Timestamp:

Mar 20, 2012, 1:48:34 PM (13 years ago)

Author:

kpm

Comment:

Instructions for 64-bit Ubuntu 10.04 Installation with Xenomai for an External PC

BuildingAPC/Lucid64Install

@@ +1 @@
+= 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
+
+#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
+
+sudo chgrp xenomai /dev/rtheap
+sudo chgrp xenomai /dev/rtp*
+
+#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
+#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=1001". 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
+sudo ./configure --enable-dlopen-skins
+sudo make
+sudo make install
+}}}
+
+'''__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
+}}}