Meka mob (RTPC) configuration - CentralLabFacilities/mekabot GitHub Wiki

Meka-mob realtime pc setup from scratch

• Get Ubuntu 14.04LTS 64bits

• Get EtherCAT from Igh

Remove unnecessary kernel modules that might cause the RTAI system to be unstable: Open the blacklist conf file:

sudo nano /etc/modprobe.d/blacklist.conf

And add all unnecessary modules:

blacklist amd76x_edac
blacklist btusb
blacklist ath9k
blacklist ath9k_common
blacklist ath9k_hw
blacklist ath
blacklist mac80211
blacklist cfg80211
blacklist bluetooth
blacklist mac_hid
blacklist intel_powerclamp
blacklist aesni_intel
blacklist ghash_clmulni_intel
blacklist snd_timer
blacklist snd_seq_midi_event
blacklist snd_seq_midi
blacklist snd_seq_device
blacklist snd_seq
blacklist snd_rawmidi
blacklist snd_pcm
blacklist snd_page_alloc
blacklist snd_hwdep
blacklist snd_hda_intel
blacklist snd_hda_codec_realtek
blacklist snd_hda_codec_hdmi
blacklist snd_hda_codec
blacklist snd
blacklist psmouse
blacklist coretemp
blacklist binfmt_misc
blacklist parport_pc
blacklist parport
blacklist serio_raw
blacklist lp
blacklist ppdev

• Get RTAI / Mekabot / ROS

You might want to compile your own RTAI kernel.

Compile with -DETHERCAT=1 -DCMAKE_BUILD_TYPE=Release

• Setup the student account

First create a non-admin account Student with a password, then open the sudoers file:

sudo visudo 

And add the following:

student ALL=(root) NOPASSWD:/sbin/insmod
student ALL=(root) NOPASSWD:/sbin/rmmod
student ALL=(root) NOPASSWD:/usr/local/bin/ethercat
student ALL=(root) NOPASSWD:/usr/bin/service

This will allow student to launch the m3rt_server without root password.