====== Install Ubuntu and Xenomai ======


**Author:** Yu Hang He **
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Email:** <hey6@unlv.nevada.edu> 
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**Date:** Last modified on <07/25/18>
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**Keywords:** Hubo 2, RTOS, Ubuntu, Xenomai
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{{ :yuhang:hubo2:xenomai1.png?500 |}}
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The photo above depicts Xenomai, a real-time development framework cooperating with the Linux kernel, to provide a pervasive, interface-agnostic, hard real-time support to user space applications, seamlessly integrated into the Linux environment. Real-time process are crucial for the operation of humanoid robots for processing sensor data and communicating instructions to various controllers and sensors.
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===== Motivation and Audience =====

The tutorial serves as an tutorial for installing Ubuntu and Xenomai. Readers of this tutorial assumes the reader has the following background and interests: 

<fc blue>  
  * Know basic elements of programming process
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  * Interested in Ubuntu Operating System
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  * Interested in implementing RTOS process with Xenomai
</fc>
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The rest of this tutorial is presented as follows:
  * [[install_ubuntu_xenomai#install_ubuntu|Install Ubuntu]]
  * [[install_ubuntu_xenomai#install_xenomai_3.0|Install Xenomai 3.0]]
  * [[install_ubuntu_xenomai#set_default_boot_to_xenomai|Set Default Boot to Xenomai]]
  * [[install_ubuntu_xenomai#final_words|Final Words]]

===== Install Ubuntu =====

  *Download Ubuntu ISO from [[https://www.ubuntu.com/download/desktop? | Ubuntu's official website]].
  *Write the ISO file to a bootable USB device.
  *For Windows user: download USB formatting tools such as [[http://www.pendrivelinux.com/universal-usb-installer-easy-as-1-2-3/ | Universal USB Installer]] and follow the install process to format USB device with Ubuntu ISO. {{ :yuhang:hubo2:usb_installer.png?500 |}}
  *Plug the USB device into a USB port.
  *Power on the computer.
  *Press F2 to enter BIOS Setup and select the bootable USB device.
  *Follow the standard Ubuntu installation process. Detail can be found in [[https://tutorials.ubuntu.com/tutorial/tutorial-install-ubuntu-desktop#4 | Ubuntu's tutorial]].

===== Install Xenomai 3.0 =====

  *After ubuntu is installed, connect to the Internet, search for update in the search window, run the software updater, and perform all updates.
  *Open the terminal (Ctrl + Alt + T) and enter the following in order.
    *  ''sudo apt-get install devscripts debhelper dh-kpatches findutils''
    *  ''sudo apt-get install kernel-package libncurses5-dev fakeroot zlib1g-dev''{{ :yuhang:hubo2:screenshot_from_2018-06-28_14-49-22.png?500 |}}
  *Search for Ubuntu Software in the search box and run it.
  *In Ubuntu Software, search and install synaptic package manager.{{ :yuhang:hubo2:screenshot_from_2018-06-28_14-47-21.png?500 |}}
  *In the synaptic package manager, search for the follow packages and check them for installation. Choose ''Name'' during search options.
    *''build-essential''
    *''automake''
    *''libtool''
    *''libpopt-dev''
    *''libglu1-mesa-dev''
    *''libglade2-dev''{{ :yuhang:hubo2:screenshot_from_2018-06-28_14-45-50.png?500 |}}
  *Click Apply to install the packages.
  *Copy the RTOS folder downloaded from Github repository to the following directory
    *''/usr/local/src/''{{ :yuhang:hubo2:screenshot_from_2018-06-28_15-21-09.png?500 |}}
  *Open a new terminal, type ''sudo passwd root'', and set the password to 'rainbow'. Enter ''su'' and enter password to enter admin mode.
    *''sudo passwd root''
    *''su''
  *Enter the following command in terminal.
    *''cd /usr/local/src/RTOS/Linux''
    *''dpkg -i *.*''
    *''reboot''
  *During the reboot, press ESC to access Advanced Ubuntu mode, then select the Xenomai menu at the top. Check the boot sequence number of Xenomai (usually 6).
  *Open a terminal and type uname -a to verify that xenomai has booted normally.
    *''uname -a''{{ :yuhang:hubo2:screenshot_from_2018-06-28_15-28-52.png?500 |}}
  *Activate ''su'' and enter:
    *''cd /usr/local/src/RTOS/Xenomai''
    *''dpkg -i *.*''
    *''exit''
    *''sudo adduser [username] root''
    *''sudo adduser [username] xenomai''
    *''su''
    *''cd /usr/lib/xenomai/testsuite''
    *''./latency''
{{ :yuhang:hubo2:screenshot_from_2018-06-28_15-33-45.png?500 |}}
===== Set Default Boot to Xenomai =====
Set the default boot to Xenomai so the Ubuntu system will automatically boot with Xenomai environment.

  *Open a new terminal and run the command:
    *''sudo gedit /etc/default/grub''
  *In the executed gedit file, change the non-zero value of GRUB_DEFAULT to "1> 6". Number 6 is the usual boot sequence number of Xenomai.{{ :yuhang:hubo2:screenshot_from_2018-06-28_15-39-48.png?500 |}}
  *Save and close the window and run:
    *''sudo update-grub''
  *Reboot the computer again. Enter the following to terminal:
    *''uname -a''
The Ubuntu should have started in Xenomai environment.
===== Final Words =====

The purpose of this tutorial was to guide reader through the process of installing Ubuntu and set up Xenomai environment in preparation for working with Hubo 2.
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For questions and comments, email <hey6@unlv.nevada.edu>