Install Barrett System with Ubuntu 12.04 LTS Precise Pangolin and Xenomai 2.6.1 - 64-Bit External PC

Download and Install 64-bit Ubuntu 12.04 LTS Precise Pangolin from official image:
​http://web.barrett.com/support/WAM_Installer/ubuntu-12.04-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-3.2.21-xenomai-2.6.1.barrett_amd64.deb
sudo wget http://web.barrett.com/support/WAM_Installer/linux-headers-3.2.21-xenomai-2.6.1.barrett_amd64.deb

#Install from Debian
sudo dpkg -i linux-image-3.2.21-xenomai-2.6.1.barrett_amd64.deb
sudo dpkg -i linux-headers-3.2.21-xenomai-2.6.1.barrett_amd64.deb

#Cleanup
sudo rm *.barrett_amd64.deb

#Install Xenomai
cd /usr/src
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 <gid>

#Update rc.local
gksudo 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
gksudo 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

# 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*

Restart and Boot Your New RT Kernel

sudo shutdown -r now

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 libxenomai-dev

wget http://web.barrett.com/support/WAM_Installer/libconfig-barrett_1.4.5-1_amd64.deb
sudo dpkg -i libconfig-barrett_1.4.5-1_amd64.deb

#Get the latest version of libbarrett
wget http://web.barrett.com/support/WAM_Installer/libbarrett-1.2.0_x86_64.deb
sudo dpkg -i libbarrett-1.2.0_x86_64.deb

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

cd ~/libbarrett-1.2.0
cmake . && make -j5 && sudo make install

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