Install GUI-less UBUNTU

Introduction

This guide is a guide to install UBUNTU on a robot without GUI.

Further to install mobotware, and connect the logon and home directory to the AU server (kalman).

UBUNTU installation

Disk space of at least 4GB is needed, internet access for use during installation and a connected CD-drive for the initial boot.

The installation follows in general the guidanve in: https://help.ubuntu.com/community/Installation/LowMemorySystems

Make a UBUNTU 11.10 minimal from the page https://help.ubuntu.com/community/Installation/MinimalCD Select the x86 32bit version of ubuntu 11.10 (mobotware do not support 64bit yet)

Installed with the following selections:

* local user selected as "demo", do not use one you want to use over the network.
* Installed on entire disk (160GB and 2GB swap - swap should later be removed and disk image reduced to 4 or 8 GB)
* Language: English (UK)
* Time: UTM with local time beeing København

When asked for packages to install, just install (i.e. no GUI):

* server basis
* ssh server

Then finish and reboot.

After reboot, the default virtual screen is 7 (the not installed GUI screen), switch to virtual screen 1 by Ctrl-Alt-F1 (we will fix this later).

Login at the prompt.

install packages

Install packages:

sudo apt-get install cmake

Install also the following packages:

* cmake
* gcc
* g++
* make
* ncurses-dev
* libraw1394-dev (used by camera server)
* libdc1394-dev (used by camera server)
* libpng-dev (used by camera server)
* libexpat-dev
* pciutils-dev
* libreadline-dev
* bison (used by MRC)
* libudev-dev
* libv4l-dev (used by camera server)
* pkg-config
* librtai-dev
* subversion (to get mobotware from timmy - if you have a password)
* git (to get a newer version of libusb and kinect driver)
* librtai (can be used by RHD - but strictly needed)
* libcv-dev (installes pt opencv version 2.1)
* libcomedi (used by analog/digital IO boards)
* autofs (to mount users home-dir)
* nis (for shared files - askes for a domain - domain for kalman is 'eriks')
* gdb to be able to analyse e.g. core dumps
* valgrind (to analyse for memory leaks etc.)

LIBUSB

Download libusb (need to be a vesion newer than 1.0.0) from http://sourceforge.net/projects/libusb/files/libusb-1.0/

unpack and in the unpacked directory:

./configure
make
sudo make install

PCL

Add PCL repository to source list by adding this line to /etc/apt/sources.list

deb http://ppa.launchpad.net/v-launchpad-jochen-sprickerhof-de/pcl/ubuntu maverick main

then get new package list and install PCL like:

sudo apt-get update
sudo apt-get install libpcl-all

Configure for kalman log-in

Copied

/etc/hosts.allow
/etc/hosts.deny
/etc/auto.master  (NB! these auto* files must NOT be executable)
/etc/auto.misc
/etc/nsswitch.conf

from Bode

Make links for home directories:

sudo ln -s /misc/vhome /vhome
sudo ln -s /misc/shome /shome

After a reboot (and Ctrl-Alt-F1), it should now be possible to login using user-ID from kalman

Compile mobotware on new platform

The parts of mobotware that depend on openCV-highgui will not compile, so remove them from the respective Makefiles:

From aurobotservers/trunk/src/Makefile edit 'apps=' list from

mangler

- lyd - switchtool - test med smr og kran

apps = auclient  auservertest  ucamserver  uclient  ulmsserver  userver  

to

apps = auservertest  ucamserver  ulmsserver  userver  

And in aurobotservers/trunk/plugin/Makefile edit 'plugins=' list to remove 'audisp'

And in aurobotservers/trunk/utils/Makefile cange

APPSUBDIRS = mapoffset smrcllogtrim cameracalibrate aulogrotate \
            barcode2d stereocalibrate utmpose2kml bayer2rgb

to

APPSUBDIRS = mapoffset smrcllogtrim  aulogrotate \
            barcode2d  utmpose2kml 

The package should now compile? - or at least the aurobotservers

ROS

- ikke testet endnu

Switchtool

- ikke loaded endnu