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.
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
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
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
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.