The OS on icub-head - Further tasks

Once you configured the iCubOS there are other task to complete in order to prepare the robot to run your software.

Note

If you installed your system starting from an image (see the iCubOS - Installation from image chapter), the below steps have been already done for you.

Remove Cloud Init package

Uninstall the cloud init packages as follows

sudo apt purge cloud-guest-utils cloud-init cloud-initramfs-copymods cloud-initramfs-dyn-netconf

Disable unattended-upgrades

In order to avoid automatic system updates you can edit the file /etc/apt/apt.conf.d/20auto-upgrades by changing the following lines

APT::Periodic::Update-Package-Lists "1";
APT::Periodic::Unattended-Upgrade "0";

Alternatively you can uninstall the package unattended-upgrades as follows

sudo apt remove unattended-upgrades

Source Path

On the latest versions of iCub (the ones with a COM-Express board) we store robot source code on the icub-head, instead of storing remotely on the icub-server and mounting via nfs. Usually, all required source code is stored in the following path

/usr/local/src/robot

You can create it with the following command

sudo mkdir -p /usr/local/src/robot

Then you must set the ownership of that folder to your default user (normally icub) as follows

sudo chown icub:icub /usr/local/src/robot

Now, you can save here robot source code, compile it and start playing with your iCub.

Have fun!