Author: Yu Hang He
Email: hey6@unlv.nevada.edu
Date: Last modified on <07/25/18>
Keywords: Hubo 2, RTOS, Ubuntu, Xenomai
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.
The tutorial serves as an tutorial for installing Ubuntu and Xenomai. Readers of this tutorial assumes the reader has the following background and interests:
* Know basic elements of programming process
* Interested in Ubuntu Operating System
* Interested in implementing RTOS process with Xenomai
The rest of this tutorial is presented as follows:
sudo apt-get install devscripts debhelper dh-kpatches findutils
Name
during search options.build-essential
automake
libtool
libpopt-dev
libglu1-mesa-dev
sudo passwd root
, and set the password to 'rainbow'. Enter su
and enter password to enter admin mode.sudo passwd root
su
cd /usr/local/src/RTOS/Linux
dpkg -i *.*
reboot
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
Set the default boot to Xenomai so the Ubuntu system will automatically boot with Xenomai environment.
sudo gedit /etc/default/grub
sudo update-grub
uname -a
The Ubuntu should have started in Xenomai environment.
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.
For questions and comments, email hey6@unlv.nevada.edu