Chiara install instructions

From Tekkotsu Wiki

Jump to: navigation, search

For the first step of the installation process you will need to plug a monitor into the VGA port and a keyboard, mouse, and USB CD-ROM drive into the USB ports.

1. Install Ubuntu Linux 9.10 from the Ubuntu web site. Set the user name to "Chiara Robot" and the userid to "artigo".

2. Install software to permit remote access:

sudo apt-get update
sudo apt-get install openssh-server

The remaining steps in the installation process can be done remotely via an ssh connection.

3. Build tools (Gnu C++ compiler):

sudo -s
apt-get install build-essential                  Gnu g++ compiler
apt-get install libjpeg62-dev libpng12-dev       Libraries needed by Tekkotsu
apt-get install libreadline-dev libxml2-dev      More libraries needed by Tekkotsu
apt-get install sun-java6-jdk                    Need Java for Mary and GUI tools
apt-get remove brltty                            Remove because it conflicts with USB tty support
apt-get remove pulseaudio                        Remove because it conflicts with alsactl
apt-get install sox libasound2-dev               Sound support
apt-get install cvs gdb finger                   Essential utilities
apt-get install ckermit                          Need kermit to talk to the SSC-32 board
perl -MCPAN -e "install Parse::RecDescent"       Needed by the stateparser; hit Return to confirm all defaults

4. To permit rapid shutdown via the robot's computer power button: edit the file /etc/acpi/ and comment out the if statement so the script immediately runs /sbin/shutdown. Or run this sequence of commands if you don't want to edit the file yourself:

cd /etc/acpi
chmod +x

5. Set up CVS defaults:

cat >~/.cvsrc <<EOF
diff -u -N
update -dP -I *.d -I *.log -I *.class -I .DS_Store
checkout -P
cvs -q
tag -cR

6. To enable Ethernet and wireless, set up /etc/network/interfaces. Due to hardware screwineess, you need to define at least wlan0 and wlan1, even though there is only one wireless dongle.

cat >/etc/network/interfaces <<EOF
# This file describes the network interfaces available on your system
# and how to activate them. For more information, see interfaces(5).  

# The loopback network interface
auto lo
iface lo inet loopback

# The primary network interface
auto eth0
#iface eth0 inet dhcp

# Wireless
auto wlan0
iface wlan0 inet dhcp

auto wlan1
iface wlan1 inet dhcp

To make wireless work under Ubuntu 9.10 you must follow the instructions on the [Tekkotsu wireless page.

7. To make use of DNS service, put the following in /etc/resolv.conf. Note: values shown are for Carnegie Mellon's network; you will need to substitute appropriate values for your installation:

cat >/etc/resolv.conf <<EOF

8. Set up a firewall to prevent unauthorized access to the robot:

Get instructions from David Winters

9. Run "alsamixer" and user the up-arrow and left-arrow keys to raise the volume levels of Master, PCM, and Line (first three sliders) to the maximum. Then press the Escape key to save and exit. Then use alsactl to make the settings permanent.

alsactl store

Note: if alsactl complains about "not owner", do "apt-get remove pulseaudio".

10. Download Tekkotsu:

cd /usr/local
cvs -d checkout -P Tekkotsu

11. Edit the Environment.conf file to set TEKKOTSU_TARGET_MODEL to TGT_CHIARA, then save and exit.

cd /usr/local/Tekkotsu/project
vi Environment.conf
#    Change the target model from TGT_CREATE to TGT_CHIARA, save and exit.

12. Compile Tekkotsu and dynamixel_util.

cd /usr/local/Tekkotsu/project

cd /usr/local/Tekkotsu/tools/dynamixel_util

13. Set up preferred .bashrc and .profile:

mv dot-profile .profile
mv dot-bashrc .bashrc
source .bashrc
rm -rf bin
mkdir bin
cd bin
chmod +x *

14. Build student account:

addgroup student
adduser student --ingroup student

15. Set up student's files:

su student
cp .bashrc .profile ~student
cp -rp bin ~student
cp -rp /usr/local/Tekkotsu/project ~student

16. Add group membership for access to audio, video, and /dev/ttyS0 and /dev/tty/USB0

adduser artigo audio
adduser artigo video
adduser student audio
adduser student video
adduser student dialout