Accidentally changed the owner of binary files from root to icub (username) in server laptop

[tasbolat1]

Hello everyone,

During the work with iCub laptop (server), I ran sudo chown -R / command, which made icub (username) to be the owner of all possible binary files, including sudo. Hence, programs (which need root privileges) cannot be run anymore. Specifically, as a result

• cannot connect pc104 of icub
• can setup neither wire nor wireless connections
• cannot get intro RecoveryMode

When I run the sudo command, I get the following error:
/usr/bin/sudo must be owned by uid 0

The iCub Laptop (server) came with iCub robot with pre-installed binaries set-up to work with robot.
After a long time search in the internet, I haven't found any solution for the problem. Could you help me with this issue?

Thanks in advance,
Tasbolat

[caicaixia]

:(

[lornat75]

can you try logging in as root? root should be able to re-assign correct ownership to files.

[tasbolat1]

@lornat75 Yes, I've tried, but no success.

To log in as a root from a terminal I need to have sudo privileges. However, I cannot run sudo. I also cannot boot into recovery mode.

[mbrunettini]

Regarding the error with sudo command, it must be owned by root and have the suid bit setted
chown root:root /usr/bin/sudo && chmod 4755 /usr/bin/sudo
see this link

[tasbolat1]

@mbrunettini
I've checked the link, but problem is, again, I cannot log in as root. So, that solution doesn't work for this case.

[mbrunettini]

can you login as icub?

[tasbolat1]

yes

[mbrunettini]

did you tried to issue the above command as icub, then?

[tasbolat1]

Yes, I've tried. Have the following error:
Permission denied

[mbrunettini]

ls -la /usr/bin/sudo
what returns?

[tasbolat1]

-rwxr-xr-x 1 icub root 136808 lug 4 2017 /usr/bin/sudo

[mbrunettini]

can you try the following?
chmod 4755 /usr/bin/sudo
chown root:root /usr/bin/sudo

[tasbolat1]

chmod 4755 /usr/bin/sudo can be executed.
However, chown root:root /usr/bin/sudo gives the following error:
chown: changing ownership of /usr/bin/sudo: Operation not permitted

[mbrunettini]

the most clean solution is to reinstall the machine: can you confirm this machine is the server laptop (i.e. the machine from where the pc104 mounts the robot code share)?
So I can point you to the right page on our wiki with all the instructions

[tasbolat1]

The laptop had arrived with iCub robot and set up to work with the iCub. Also username is icub and hostname is icubsrv. So, I confirm that the machine is a server laptop.

[tasbolat1]

I have a concern in the following part:

git clone https://github.com/robotology/yarp.git

Should I do it as root or icub?

[mbrunettini]

icub
There is not the sudo command

[tasbolat1]

We followed the instruction given and could connect to the robot. We could also run yarprobotinterface.
However, when we run yarpmotorgui, we get the following error:

[mbrunettini]

It is a different issue, I propose to close this one and to open a new one with a different topic.
Thanks

[tasbolat1]

Let me clear one thing:
We reinstall everything in the icub@icubsrv, but we didn't re-install or change anything inside the pc104.
So that means we downloaded and reinstalled all the codes in the server laptop (e.g. yarp, icub-main and so on) in /exports/code. So I am wondering if the version of those code in pc104 is not match or link to this server laptop anymore. Then it causes this problem?

My point is how to synchronize or map those source codes between the pc104 and server laptop?

[barbalberto]

Yes, you have to update YARP on the robot

[tasbolat1]

@barbalberto How shall we do? Do we need to get inside of the pc104 and git pull , then re-build it.
Or we can somehow to map from the server laptop?

[barbalberto]

You have to go inside the pc104

ssh on pc104
cd $YARP_DIR
git pull
cmake .. 
make -j2

then do the same on ICUB_DIR

[barbalberto]

And other folders you have in /usr/local/src/robot like icub-firmware-shared, in the order shown in the page http://wiki.icub.org/wiki/Compilation_on_the_pc104 from section compile yarp onward

[mbrunettini]

since the issue about the laptop is solved, i close this

[tasbolat1]

@barbalberto we updated yarp, icub-main and so other folders we mentioned. Now, we cannot run yarprobotinterface. My question is related to ccmake flags, which ones shall we make ON?
We followed the instructions you provided, however got the following errors:

[tasbolat1]

In

Compile iCub,

which flags should be ON? (We're iCubSingpapore01)

You need to enable (all versions of iCub):

 ENABLE_icubmod_dragonfly2
 ENABLE_icubmod_skinWrapper
 ENABLE_icubmod_xsensmtx

CAN robots:

 ENABLE_icubmod_sharedcan
 ENABLE_icubmod_canmotioncontrol
 ENABLE_icubmod_canBusAnalogSensor
 ENABLE_icubmod_canBusDoubleFTSensor
 ENABLE_icubmod_canBusSkin
 ENABLE_icubmod_canBusInertialMTB
 ENABLE_icubmod_canBusVirtualAnalogSensor
 ENABLE_icubmod_cfw2can
 ENABLE_icubmod_parametricCalibrator

ETH robots: enable also the following

 ENABLE_icubmod_embObjAnalogSensor
 ENABLE_icubmod_embObjMotionControl
 ENABLE_icubmod_embObjSkin
 ENABLE_icubmod_embObjVirtualAnalogSensor
 ENABLE_icubmod_parametricCalibratorEth

Cartesian controller:

 ENABLE_icubmod_cartesiancontrollerclient
 ENABLE_icubmod_cartesiancontrollerserver

Versions from iCub 1.1.1 enable also:

 ENABLE_icubmod_cfw2can
 ENABLE_icubmod_skinprototype

Previous versions (iCub 1.0 and 1.1.0):

 ENABLE_icubmod_pcan: iCub 1.0 and 1.1.0
 ENABLE_icubmod_ecan: iCub 1.1.0

[barbalberto]

Ok, you need also to update firmware on the boards.
Can you please tell us your YARP_ROBOT_NAME? Then we'll open a separated issue for that.

[tasbolat1]

iCubSingpapore01

[barbalberto]

I created issue here robotology/icub-tech-support#626