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added 22.04 page and ansible playbook guide (#381)
Co-authored-by: icub <[email protected]>
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docs/icub_operating_systems/icubos/installation-from-ansible-playbook.md
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| ## Create the USB installer | ||
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| The first step is to download the **official Ubuntu 22.04 LTS Server install media** from the [release page](https://releases.ubuntu.com/jammy). Search for `ubuntu-22.04.x-live-server-amd64.iso`. | ||
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| Then, please create the USB installer using a USB memory and a tool like [Balena Etcher](https://www.balena.io/etcher/). | ||
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| Find further information about creating a bootable USB stick on [Windows](https://ubuntu.com/tutorials/create-a-usb-stick-on-windows#1-overview), [Ubuntu](https://ubuntu.com/tutorials/create-a-usb-stick-on-ubuntu#1-overview) or [macOS](https://support.apple.com/en-us/101578). | ||
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| ## Install Ubuntu | ||
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| Follow the below steps to install the Ubuntu server on icub-head. | ||
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| Please, note that the installation procedure can be slightly different in each release, you can see the [Ubuntu server official install guide](https://ubuntu.com/tutorials/tutorial-install-ubuntu-server) | ||
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| !!! warning | ||
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| The installation procedure will overwrite the disk of your icub-head, so all data will be deleted. | ||
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| ## Launch the playbook | ||
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| Once the basic OS has been installed it is time to download and launch our playbook: | ||
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| The Playbook covers the steps decribed in [iCubOS installation from scratch](https://icub-tech-iit.github.io/documentation/icub_operating_systems/icubos/installation-from-scratch/), [iCub user enviroment](https://icub-tech-iit.github.io/documentation/icub_operating_systems/icubos/user-env/) and [further tasks](https://icub-tech-iit.github.io/documentation/icub_operating_systems/icubos/further-tasks/). | ||
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| How to run: | ||
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| - clone the repository | ||
| - Check the README file for further instructions | ||
| - launch as `sudo` the `start.sh` file | ||
| ``` | ||
| git clone https://github.com/icub-tech-iit/iCubOS-playbook.git | ||
| cd iCubOS-playbook/ | ||
| sudo ./start.sh | ||
| ``` | ||
| A reboot is recommended in order to load the Lowlatency kernel instead of the Generic. | ||
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| Once the installation is completed follow the [Networking](https://icub-tech-iit.github.io/documentation/icub_operating_systems/icubos/networking/#external-network-configurations) chapter of the guide to configure the network using netplan or your favourite network manager system. |
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docs/icub_operating_systems/icubos/installation-from-scratch-22.04.md
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| # The OS on icub-head - Installation from scratch | ||
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| Since iCubOS is based on the Ubuntu server, we will install the latter from the default installer and then manually customize it. | ||
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| ## Latest versions | ||
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| The latest version is based on Ubuntu Server 22.04 | ||
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| ## Create the USB installer | ||
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| The first step is to download the **official Ubuntu 22.04 LTS Server install media** from the [release page](https://releases.ubuntu.com/jammy). Search for `ubuntu-22.04.x-live-server-amd64.iso`. | ||
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| Then, please create the USB installer using a USB memory and a tool like [Balena Etcher](https://www.balena.io/etcher/). | ||
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| Find further information about creating a bootable USB stick on [Windows](https://ubuntu.com/tutorials/create-a-usb-stick-on-windows#1-overview), [Ubuntu](https://ubuntu.com/tutorials/create-a-usb-stick-on-ubuntu#1-overview) or [macOS](https://support.apple.com/en-us/101578). | ||
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| ## Install Ubuntu | ||
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| Follow the below steps to install the Ubuntu server on icub-head. | ||
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| Please, note that the installation procedure can be slightly different in each release, you can see the [Ubuntu server official install guide](https://ubuntu.com/tutorials/tutorial-install-ubuntu-server) | ||
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| !!! warning | ||
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| The installation procedure will overwrite the disk of your icub-head, so all data will be deleted. | ||
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| ### Ubuntu Installer configuration | ||
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| Install the system by choosing the default options, except for the following steps: | ||
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| #### Keyboard and language | ||
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| - **Layout** : `US` | ||
| - **Variant** : `US` | ||
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| #### Storage configuration | ||
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| - _**Disable** the following option_ : `Setup this disk as an LVM group` | ||
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| #### Identity | ||
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| - **Your name** : `icub` | ||
| - **Your Server's name** : `icub-head` | ||
| - **Pick a username** : `icub` | ||
| - **Choose a password** : `icub` | ||
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| #### SSH | ||
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| - _**Enable** the following option_ : `Install SSH server` | ||
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| ## Required Packages | ||
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| Install the following packages | ||
| ``` | ||
| nfs-common python-tk libopencv-dev ntpdate vim ssh cmake-curses-gui iperf libportaudio2 portaudio19-dev linux-sound-base alsa-base alsa-utils gdb meld bmon libi2c-dev expect libgfortran-10-dev qml-module-qt-labs-folderlistmodel qml-module-qt-labs-settings | ||
| ``` | ||
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| ### Low Latency kernel | ||
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| Install the following packages | ||
| ``` | ||
| linux-image-lowlatency linux-headers-lowlatency | ||
| ``` | ||
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| ### Disable X server at startup | ||
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| The x server is started automatically at startup by GDM, so please disable GDM | ||
| ``` | ||
| sudo systemctl disable gdm | ||
| ``` | ||
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| ## Configuration steps | ||
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| ### SSH configuration | ||
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| 1. Configure passwordless ssh: see this [link](https://askubuntu.com/questions/46930/how-can-i-set-up-password-less-ssh-login) | ||
| 2. Disable reverse DNS lookup in SSH server: add the following line to the file `/etc/ssh/sshd_config` | ||
| ``` | ||
| UseDNS no | ||
| ``` | ||
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| ### Network performances tweaks | ||
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| 1. Install the following packages | ||
| ``` | ||
| sudo apt install linux-image-lowlatency linux-headers-lowlatency | ||
| ``` | ||
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| 2. Modify the real-time priority of the process, add the file `/etc/security/limits.d/icub.conf ` as follows | ||
| ``` | ||
| icub soft rtprio 99 | ||
| icub hard rtprio 99 | ||
| ``` | ||
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| 3. Set the max OS receive-buffer size for all types of connections, by adding the file `/etc/sysctl.d/20-net-rbuffer.conf` as follows | ||
| ``` | ||
| # This sets the max OS receive-buffer size for all types of connections | ||
| net.core.rmem_max=8388608 | ||
| ``` | ||
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| ## Customize the system | ||
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| What now you need to do is to customize the installation with your hardware and environment (see the "_Required configuration_" paragraph in [_Networking_](networking.md), [_Bluetooth_](bluetooth.md), [_User Environment_](user-env.md) chapters as well as [_Further Tasks_ chapter](further-tasks.md) ) |
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docs/icub_operating_systems/other-machines/generic-machine-22.04.md
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| # Generic iCub environment machines | ||
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| This page contains instructions on how to prepare a machine to work in the iCub Subnet environment. This is a basic setup, useful as a starting point to prepare any kind of machine of the iCub ecosystem. | ||
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| ## Operating System | ||
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| You can choose both a Debian or Ubuntu Linux, the currently suggested OS is [Ubuntu 22.04 (Jammy Jellyfish)](http://releases.ubuntu.com/22.04/). | ||
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| ## User account | ||
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| ### Users and Passwords | ||
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| The default user account is | ||
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| **Username** : `icub` | ||
| **Password** : `icub` | ||
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| If you want to change the default password simply execute (*this works only if you are using persistence*) | ||
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| `passwd icub` | ||
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| !!! note "root login" | ||
| As in any Ubuntu installation, the root user has no password, this means that the direct login (i.e. *ssh root\@icub-head*) is disabled, but you can always do | ||
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| `sudo su - ` | ||
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| Add the icub user to the sudoers group, as follows | ||
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| `sudo usermod -aG sudo icub` | ||
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| ## Required and useful Packages | ||
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| Please install the following packages (names are correct for Ubuntu 20.04, please check the corresponding package in your distribution): | ||
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| ` nfs-common python-tk libopencv-dev ntpdate ssh cmake-curses-gui` | ||
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| Also install (optional, but very useful) the following packages: | ||
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| `vim iperf` | ||
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| ## Debian Software repository | ||
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| !!! warning "for Debian systems" | ||
| this step is required only for a Debian machine. | ||
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| Enable the **non-free** and **contrib** sources, by editing the file `/etc/apt/sources.list` | ||
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| ## Network configuration | ||
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| You have two options: | ||
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| - Static IP address (this option is **mandatory** if there is no DHCP in your subnet - like in the case of the [iCub Console Server](icub-server-laptop.md) - or if your machine is the DHCP server - this is the case of the [iCub Dedicated Server](icub-server-from-scratch.md) ) | ||
| - Dynamic DHCP IP address | ||
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| ### Configuration methods | ||
| Usually, if you have a Desktop installed on your machine it's better to use the default desktop network tool (eg. in Ubuntu 22.04 the tool is [Network Manager](https://help.ubuntu.com/community/NetworkManager) ) or using its cli UI `nmtui` very powerfull and easy to use even when conneted via `ssh`. | ||
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| Otherwise, you can configure the network interfaces using the command line configuration files (eg. in Ubuntu 22.04 you have to deal with [NETPLAN](https://netplan.io/) ) | ||
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| ### the HOSTS file | ||
| Please check that the file `/etc/hosts` looks as follows: | ||
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| ``` | ||
| 127.0.0.1 localhost | ||
| 127.0.1.1 MACHINE_HOSTNAME.icub.local MACHINE_HOSTNAME | ||
| ``` | ||
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| where **MACHINE_HOSTNAME** is the hostname of you machine, that should match the file `/etc/hostname` | ||
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| ## NTP configuration | ||
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| !!! warning "in case of iCub server" | ||
| Skip this step in case of [iCub Console Server](icub-server-laptop.md) or [iCub Dedicated Server](icub-server-from-scratch.md) | ||
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| You should configure this machine as an NTP client and then configure the NTP service to point to `icub-srv` as an NTP server. | ||
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| You can use several different packages to install an NTP client, but we recommend using `systemd-timesyncd` and removing the package `ntp`, if present. | ||
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| To configure `timesyncd` the only thing needed is to edit the file `/etc/systemd/timesyncd.conf` adding the line `NTP=10.0.0.1` or your current NTP server IP address. | ||
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| Not mandatory but recommanded add also in the same file the line `FallbackNTP=ntp.ubuntu.com` this will be our backup NTP server. | ||
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| Finally restart `timesyncd`service | ||
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| `sudo systemctl restart systemd-timesyncd` | ||
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| ## iCub user environment variables | ||
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| !!! warning "in case of iCub dedicated server" | ||
| Skip this step in case of [iCub Dedicated Server](icub-server-from-scratch.md) | ||
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| see [_User Environment_](../icubos/user-env.md) chapter | ||
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| ## Customize the system | ||
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| What now you need to do is to customize the installation with your hardware and environment (see [_User Environment_](../icubos/user-env.md) chapter) | ||
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| ## Special computers | ||
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| In case of special machines (such as the cuda workstation or icub laptop) you must follow further steps in order to complete the installation: | ||
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| - [iCub Dedicated Server](icub-server-from-scratch.md) | ||
| - [iCub Console Server](icub-server-laptop.md) | ||
| - [The nVidia CUDA workstation](cuda-workstation.md) |
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