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Showing posts from January, 2015

Packaging your robotic VM with Vagrant

This is a short post on using Vagrant for packaging your Linux box, virtual or real, using Vagrant. The target configuration at this moment is the following:
Ubuntu 12.04 or 14.04 with 3.14.17Gcc updated 4.8.1 for 12.04 or stock 4.8.2 for 14.04Xenomai 2.6.4 (matching the kernel version)ROS Hydro Among them building the Kernel patched with Xenomai is the most interesting thing, but before that the stock gcc has to be upgraded to 4.8. Then the following steps are needed: Download Xenomai 2.6.4 and the Kernel 3.14.17Patch the Kernel using XenomaiAutomatically configure the Kernel for real-time supportBuild and Install the kernelBuild Xenomai native libraries The above is performed by means of three scripts (here) interspersed by the vagrant reload command that reboots the machine as supported by the following plugin here. Note that the automatic kernel configuration is obtained by a simple Python script that removes config entries and add others. This script differs from the kernel provide…