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--- robots:pr2_nvidia [2014/03/13 09:44] – amaldo
+++ robots:pr2_nvidia [2014/03/13 10:09] (current) – amaldo
@@ Line 1: / Line 1: @@
+====== Compiling the Nvidia kernel module ======
+Get the kernel version for pr2b:
+  ssh pr2b
+  cat /proc/version
+  amaldo@pr2b:/usr/src/nvidia-304-304.116/patches$ cat /proc/version
+  Linux version 3.4.28.rt40-1-pr2 (willow@ian) (gcc version 4.6.3 (Ubuntu/Linaro 4.6.3-1ubuntu5) ) #1 SMP PREEMPT Mon Feb 4 15:03:30 PST 2013
+Compile the nvidia module for that kernel (but do it on pr2a):
+  ssh pr2a
+  sudo apt-get install nvidia-304   (we could also test with nvidia-331)
+  ls /usr/src/ |grep nvidia   (get the version number for dkms)
+  sudo dkms build nvidia-304/304.116 -k 3.4.28.rt40-1-pr2
+  sudo dkms install nvidia-304/304.116 -k 3.4.28.rt40-1-pr2
+  ssh pr2b
+  sudo modprobe nvidia
+Make the loading of the module permanent:
+  ssh pr2a
+  cd /unionfs/overlay/etc
+  sudo cp /etc/modules .
+  sudo vim modules     <- Add nvidia at the bottom
+Now you can make a phoney xorg.conf file to start X without a monitor attached, and use virtualGL to get rviz running on the robot
+====== Setting up X ======
+Get a Desktop Manager with minimal dependencies:
+  ssh pr2a
+  sudo apt-get install lightdm lightdm-gtk-greeter
+Create a fake xorg.conf file with the following contents:
+<code>
+Section "Device"
+    Identifier     "Device0"
+    Driver         "nvidia"
+    Option         "ConnectedMonitor" "CRT-0"
+    Option         "UseEDID" "FALSE"
+EndSection
+Section "DRI"
+        Mode 0660
+        Group "vglusers"
+EndSection
+Section "Monitor"
+    Identifier     "Headless"
+    HorizSync       80.0 - 80.0
+    VertRefresh     75.0
+    #
+    #   Used command line:  gtf 1280 1024 75
+    #   to come up with following Modeline:
+    Modeline "1280x1024_75.00"  138.54  1280 1368 1504 1728  1024 1025
+1069  -HSync +Vsync
+EndSection
+Section "Screen"
+    Identifier     "Screen0"
+    Device         "Device0"
+    Monitor        "Headless"
+    DefaultDepth    24
+    Option         "UsedEDID" "FALSE"
+    SubSection     "Display"
+        Depth       24
+        Modes      "1280x1024"
+    EndSubSection
+EndSection
+</code>