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PC104 configuration when you flash a new USB card
- you must use a USB disk of MAX 16GB (bigger than 16GB, the PC104 does not boot)
iCub LIVE image for PC104 version 6.0-16.04.05
Based on jessie amd64
Build on 05-Apr-2016
=============================================================================
/etc/fstab
aufs / aufs rw 0 0
tmpfs /tmp tmpfs nosuid,nodev 0 0
10.0.0.11:/home/icub/software/src /usr/local/src/robot nfs _netdev,auto,hard,intr 0 0
10.0.0.11:/home/icub/software/share/ICUBcontrib/robots /home/icub/.local/share/yarp/robots nfs _netdev,auto,hard,intr 0 0
=============================================================================
/etc/ntp.conf
==> not exist
=============================================================================
/etc/network/interfaces
# 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
allow-hotplug eth0
iface eth0 inet static
address 10.0.1.104
netmask 255.255.255.0
auto eth0
# The secondary network interface
allow-hotplug eth1
iface eth1 inet static
address 10.0.0.2
netmask 255.255.255.0
network 10.0.0.0
broadcast 10.0.0.255
gateway 10.0.0.254
dns-nameservers 10.0.0.254
dns-domain icub.local
dns-search icub.local
auto eth1
=============================================================================
/etc/hosts
127.0.0.1 localhost pc104
127.0.1.1 pc104.icub.local pc104
10.0.0.1 icub-srv icubsrv
# The following lines are desirable for IPv6 capable hosts
::1 localhost ip6-localhost ip6-loopback
ff02::1 ip6-allnodes
ff02::2 ip6-allrouters
=============================================================================
/etc/host.conf
multi on
=============================================================================
/etc/hostname
pc104
=============================================================================
/etc/rciCub.d/mounts.list
# Source Dest_mountpoint FS_type options
# (please do not use blank spaces)
# ROBOT SOURCES FROM ICUBSRV PC #
# 10.0.0.1:/exports/code /usr/local/src/robot nfs _netdev,auto,hard,intr
# 10.0.0.1:/exports/local_yarp /home/icub/.local/share/yarp nfs _netdev,auto,hard,intr
# ROBOT SOURCES FROM ICUB01 PC #
10.0.0.11:/home/icub/software/src /usr/local/src/robot nfs _netdev,auto,hard,intr
10.0.0.11:/home/icub/software/share/ICUBcontrib/robots /home/icub/.local/share/yarp/robots nfs _netdev,auto,hard,intr
=============================================================================
/etc/resolv.conf
domain icub.local
search icub.local
nameserver 10.0.0.1
nameserver 8.8.8.8
=============================================================================
/etc/networks
default 0.0.0.0
loopback 127.0.0.0
link-local 169.254.0.0
iCub LIVE image for PC104 version 7.9-17.12.18
Based on stretch amd64
Build on 18-Dec-2017
Linux pc104 4.9.0-4-rt-amd64 #1 SMP PREEMPT RT Debian 4.9.65-3 (2017-12-03) x86_64
=============================================================================
/etc/fstab
overlay / overlay rw 0 0
tmpfs /tmp tmpfs nosuid,nodev 0 0
=> attention! it changed because now the mount instructions are in rc.iCub.d (see below)
=============================================================================
/etc/ntp.conf
==> does not exist
=============================================================================
/etc/network/interfaces
# 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
allow-hotplug eth0
iface eth0 inet static
address 10.0.1.104
netmask 255.255.255.0
auto eth0
# The secondary network interface
allow-hotplug eth1
iface eth1 inet static
address 10.0.0.2
netmask 255.255.255.0
network 10.0.0.0
broadcast 10.0.0.255
gateway 10.0.0.254
dns-nameservers 10.0.0.254
dns-domain icub.local
dns-search icub.local
auto eth1
=============================================================================
/etc/hosts
127.0.0.1 localhost pc104
127.0.1.1 pc104.icub.local pc104
10.0.0.1 icub-srv icubsrv
10.0.0.11 icub01
# The following lines are desirable for IPv6 capable hosts
::1 localhost ip6-localhost ip6-loopback
ff02::1 ip6-allnodes
ff02::2 ip6-allrouters
=============================================================================
/etc/host.conf
multi on
=============================================================================
/etc/hostname
pc104
=============================================================================
/etc/rc.iCub.d/mounts.list => attention: name has changed!
# Source Dest_mountpoint FS_type options
# (please do not use blank spaces)
# ROBOT SOURCES FROM ICUBSRV PC #
# 10.0.0.1:/exports/code /usr/local/src/robot nfs _netdev,auto,hard,intr
# 10.0.0.1:/exports/local_yarp /home/icub/.local/share/yarp nfs _netdev,auto,hard,intr
# ROBOT SOURCES FROM ICUB01 PC #
10.0.0.11:/home/icub/software/src /usr/local/src/robot nfs _netdev,auto,hard,intr
10.0.0.11:/home/icub/software/share/ICUBcontrib/robots /home/icub/.local/share/yarp/robots nfs _netdev,auto,hard,intr
=============================================================================
/etc/rc.iCub.d/S90_mount-remote-fs.sh => new file that specifies the old fstab mount remote
#! /bin/bash
# Mount remote filesystems
MOUNTS_FILE="/etc/rc.iCub.d/mounts.list"
PACKETS_PER_PING=10
MAX_RETRIES_N=3
SLEEP_TIME_SEC=5
PING_DEST="10.0.0.11"
=> make sure PING_DEST is the address of the PC that keeps the source files of yarp and icub, in our case icub01.
=> attention! now it is not anymore /yarp, /icub-main on separate folders, they are inside robotology-superbuild
=============================================================================
/etc/resolv.conf
domain icub.local
search icub.local
nameserver 10.0.0.1
nameserver 10.0.0.254
nameserver 8.8.8.8
=============================================================================
/etc/networks
default 0.0.0.0
loopback 127.0.0.0
link-local 169.254.0.0
=============================================================================
/home/icub/.bashrc_iCub
This manual is maintained to facilitate the life of our lab members in getting started with our robots. It is not an " official" guide and it is maintained at our best. If something does not work, please tell us or write an issue. Contributors: Serena Ivaldi