No space left during ROS Indigo installation on OpenNao 2.1.2

[Jon Dybeck]

Hello everyone!

While attempting to install ROS Indigo on a factory reset Nao V5 (OpenNao 2.1.2) I encountered an unexpected problem.

The rootfs filesystem is mounted as / but no other filesystem is mounted to accommodate directories such as /usr.

Thus when more software is installed the rootfs filesystem quickly fills up and the installation fails.

So, my question is twofold:

+ Why is no other file system mounted as a replacement for rootfs when the system has been booted?

+ How can we reconfigure the system (repartitioning is not really an option) to not use the rootfs for all storage?

   (I naively tried to move /usr to /var/persistent using a symlink and "bricked" a robot. Had to reset it.)

Below is more verbose information to replicate and diagnose the problem.

The instructions used (works nicely with 1.14.x):

http://wiki.ros.org/nao/Tutorials/Installation/local

The following emerge invocation fails (skipped apr* packages):

sudo emerge log4cxx netifaces pyyaml poco

With this error:

>>> Installing (4 of 4) dev-libs/poco-1.3.6_p2
/sbin/ldconfig: Writing of cache data failed: No space left on device
Traceback (most recent call last):
  File "/usr/lib/portage/pym/portage/dbapi/_MergeProcess.py", line 188, in _spawn
    prev_mtimes=self.prev_mtimes, counter=counter)
  File "/usr/lib/portage/pym/portage/dbapi/vartree.py", line 4304, in merge
    counter=counter)
  File "/usr/lib/portage/pym/portage/dbapi/vartree.py", line 3835, in treewalk
    writemsg_level=self._display_merge, vardbapi=self.vartree.dbapi)
  File "/usr/lib/portage/pym/portage/proxy/objectproxy.py", line 31, in __call__
    return result(*args, **kwargs)
  File "/usr/lib/portage/pym/portage/util/env_update.py", line 72, in env_update
    env, writemsg_level)
  File "/usr/lib/portage/pym/portage/util/env_update.py", line 327, in _env_update
    outfile.close()
  File "/usr/lib/portage/pym/portage/util/__init__.py", line 1163, in close
    f.close()
IOError: [Errno 28] No space left on device

>>> Failed to install dev-libs/poco-1.3.6_p2, Log file:
>>  '/var/volatile/var/tmp/portage/dev-libs/poco-1.3.6_p2/temp/build.log'

A quick check using 'df -h' shows where the problem comes from:

Turns out emerge is installing the libraries to /usr (as expected) but /usr is _not_ mounted or linked

to the presistent sd card.

Filesystem            Size  Used Avail Use% Mounted on
rootfs                886M  886M     0 100% /
/dev/root             886M  886M     0 100% /
rc-svcdir             1.0M   92K  932K   9% /lib/rc/init.d
cgroup_root            10M     0   10M   0% /sys/fs/cgroup
udev                   10M  124K  9.9M   2% /dev
tmpfs                 502M  1.1M  501M   1% /dev/shm
tmpfs                 502M  1.7M  500M   1% /var/volatile
/dev/mmcblk0p1         15G  194M   14G   2% /var/persistent
/dev/sda1             124M  6.7M  111M   6% /var/persistent/media/internal

OpenNao 1.14.x (not factory reset, but no ROS installed):

Filesystem            Size  Used Avail Use% Mounted on
rootfs                886M  512M  330M  61% /
/dev/root             886M  512M  330M  61% /
rc-svcdir             1.0M   88K  936K   9% /lib/rc/init.d
cgroup_root            10M     0   10M   0% /sys/fs/cgroup
udev                   10M  160K  9.9M   2% /dev
tmpfs                 502M  680K  501M   1% /dev/shm
tmpfs                 502M  480K  502M   1% /var/volatile
/dev/mmcblk0p1        7.3G  603M  6.4G   9% /var/persistent
/dev/sda1             124M  9.0M  109M   8% /var/persistent/media/internal

OpenNao 2.1.x (factory reset):

Filesystem            Size  Used Avail Use% Mounted on
rootfs                886M  807M   34M  96% /
/dev/root             886M  807M   34M  96% /
rc-svcdir             1.0M   92K  932K   9% /lib/rc/init.d
cgroup_root            10M     0   10M   0% /sys/fs/cgroup
udev                   10M  124K  9.9M   2% /dev
tmpfs                 502M  1.2M  501M   1% /dev/shm
tmpfs                 502M  1.6M  500M   1% /var/volatile
/dev/mmcblk0p1         15G  212M   14G   2% /var/persistent
/dev/sda1             124M  6.7M  111M   6% /var/persistent/media/internal

Sorry for the long email.

Any ideas? :)

Best wishes,

Jon Dybeck

[Tully Foote]

Hi Jon,

For another system with limited storage we've been recommending using bind mounts to mount a directory on the SD card onto the machine.

The page describing how to do it is here: http://tfoote.gitbooks.io/a-guide-to-using-ros-on-the-ifc6410/content/configure_the_system/index.html

Tully

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[jond...@student.liu.se]

Hello Tully,

Thanks, however the problem is not actually one of storage space.
The robot has plenty of free space on other partitions, what I am wondering is how one can reconfigure /usr to one of them.

(Also, my application has to be autonomous and independent of other systems.)

Best wishes,
Jon Dybeck
 

[Tully Foote]

Hi Jon,

The instructions I pointed to are how to mount partitions such as /var and /usr onto a different partition. (In the case of that board the other partition is an SD card, but you can use the same procedure.)

Tully

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[christophe scazzi]

Hello,

You don't have to move "/usr", here is how I did:

https://groups.google.com/forum/?hl=en#!searchin/ros-sig-aldebaran/no$20space/ros-sig-aldebaran/1LUsIEry_Go/X_UL2tMtob8J

[James REN]

Have found a solution: create a symlink from SD card to /opt and then moving non-critical /usr subdirectories to /opt. After this, you would have at least 200MB free space.