Table of Contents
Install Ubuntu and Xenomai
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.
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:
* 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:
Install Ubuntu
- Download Ubuntu ISO from Ubuntu's official website.
- Write the ISO file to a bootable USB device.
- For Windows user: download USB formatting tools such as Universal USB Installer and follow the install process to format USB device with Ubuntu ISO.
- 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 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
- Search for Ubuntu Software in the search box and run it.
- 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
- Click Apply to install the packages.
- Copy the RTOS folder downloaded from Github repository to the following directory
- Open a new terminal, type
sudo passwd root
, and set the password to 'rainbow'. Entersu
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.
- 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
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
- 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.
For questions and comments, email hey6@unlv.nevada.edu