= 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 <gid>

#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 "<gid>" > /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=<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
}}}