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SDSETUP.md

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1. Ubuntu SD card creation for Enclustra

❗Disclaimed:

  • This procedure can be used only if the new Ubuntu system kernel is 5.4.0 version.
  • Enclustra is an Arm64 board, do not try the x86 Linux version.

1.1. Download and flash

❗To be done on SD card mounted on iCub-head.

Create an ubuntu SD card.
Suggested site: https://ubuntu.com/tutorials/how-to-install-ubuntu-on-your-raspberry-pi#1-overview

Download prebuild Ubuntu 20.04.1 for Arm64:

wget https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.1-preinstalled-server-arm64+raspi.img.xz?_ga=2.193426350.2036444557.1610970210-2073042528.1610970210

https://ubuntu.com/download/raspberry-pi/thank-you?version=20.04.1&architecture=server-arm64+raspi

unxz ubuntu-20.04.1-preinstalled-server-arm64+raspi.img.xz

Use https://www.balena.io/etcher/ application to flash the SD card with the above file.

❗Use gparted application to enlarge partition up to 16GB

1.2. Override Ubuntu Kernel

❗To be done on SD card mounted on iCub-head.

Copy from yarp-device-ultrapython/ubuntu-files/system-boot to new card /system-boot (not /boot)

The following files can be removed from /system-boot.
//TODO

1.3. Delete locked password

❗To be done on SD card mounted on iCub-head.

Modify shadows file.

sudo vi /mount/<mount location>/etc/shadows

Follow link: https://www.justdocloud.com/2020/05/10/how-to-remove-password-from-etc-shadow/

and remove the password for the root user.

1.4. Network config

❗To be done on SD card mounted on iCub-head.

Follow link: https://linuxize.com/post/how-to-configure-static-ip-address-on-ubuntu-18-04/

Copy file:

 cp <myroot>/yarp-device-ultrapython/ubuntu-files/config/01-netcfg.yaml /mount/<mountpoint>/etc/netplan/01-netcfg.yaml

In case the configuration is done on running Enclustra

sudo netplan apply

1.5. Generate ssh key for root access on Enclustra

❗To be done on SD card mounted on iCub-head.

su <your user or root>
ssh-keygen

For ssh-keygen keep all default suggestions.

Copy and paste contents of /home/<your user>/.ssh/id_rsa.pub from local Linux machine to /root/.ssh/authorized_keys in SD card (as root user).

Note that you can generate the key also for other accounts on iCub-head.

Add board hostname on iCub-head (not mandatory)

cd ~\.ssh
mkdir config

Paste in the file config

Host enclustra
     Hostname 10.0.1.233
     port 22
     user root

1.6. Missing package

❗To be done on running Enclustra.

Use the serial connection if ssh won't work.

apt update
apt remove initramfs-tools cryptsetup snapd
install net-tools g++ build-essential cmake cmake-curses-gui v4l-utils mplayer netcat pv ssh clang libssl-dev git libncurses5-dev libace-dev libv4l-dev libv4lconvert0 libopencv-dev cppcheck clang-format libudev-dev ntpdate

Execute: apt upgrade It can give some errors, you can ignore and in this case again: apt remove initramfs-tools cryptsetup

Add root pwd:

pwd

1.7. Others

❗To be done on running Enclustra.
Disable the wait-online service to prevent the system from waiting on a network connection.

systemctl disable systemd-networkd-wait-online.service
systemctl mask systemd-networkd-wait-online.services

1.8. YARP

❗To be done on running Enclustra.

cd icubtech

git clone https://github.com/robotology/ycm.git
mkdir build
cd build
cmake ..
make

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
cmake ..
make

Select as YCM_DIR /root/icubtech/ycm/build for YARP

Select as CMAKE_INSTALL_PREFIX /root/icubtech/install for both YCM and YARP

Add to .bashrc:

export YARP_DIR=/root/icubtech/install
export YARP_DATA_DIRS=${YARP_DIR}/share/yarp
export PATH=$PATH:${YARP_DIR}/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${YARP_DIR}/lib

Get and install kernel modules.

cd /root/icubtech/python-camera/
git clone https://github.com/icub-tech-iit/yarp-device-ultrapython.git
cp /root/icubtech/python-camera/ubuntu-files/config/rc.local /etc
chmod +x /etc/rc.local

Now reboot