= 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
}}}