added 22.04 page and ansible playbook guide

docs/icub_operating_systems/icubos/installation-from-ansible-playbook.md

@@ -0,0 +1,40 @@
+## Create the USB installer
+
+The first step is to download the **official Ubuntu 22.04 LTS Server install media** from the [release page](https://releases.ubuntu.com/jammy). Search for `ubuntu-22.04.x-live-server-amd64.iso`.
+
+Then, please create the USB installer using a USB memory and a tool like [Balena Etcher](https://www.balena.io/etcher/).
+
+Find further information about creating a bootable USB stick on [Windows](https://ubuntu.com/tutorials/create-a-usb-stick-on-windows#1-overview), [Ubuntu](https://ubuntu.com/tutorials/create-a-usb-stick-on-ubuntu#1-overview) or [macOS](https://support.apple.com/en-us/101578).
+
+## Install Ubuntu
+
+Follow the below steps to install the Ubuntu server on icub-head.
+
+Please, note that the installation procedure can be slightly different in each release, you can see the [Ubuntu server official install guide](https://ubuntu.com/tutorials/tutorial-install-ubuntu-server)
+
+!!! warning
+
+    The installation procedure will overwrite the disk of your icub-head, so all data will be deleted.
+
+## Launch the playbook
+
+Once the basic OS has been installed it is time to download and launch our playbook:
+
+The Playbook covers the steps decribed in [iCubOS installation from scratch](https://icub-tech-iit.github.io/documentation/icub_operating_systems/icubos/installation-from-scratch/), [iCub user enviroment](https://icub-tech-iit.github.io/documentation/icub_operating_systems/icubos/user-env/) and [further tasks](https://icub-tech-iit.github.io/documentation/icub_operating_systems/icubos/further-tasks/).
+
+How to run:
+
+- clone the repository 
+- Check the README file for further instructions
+- launch as `sudo` the `start.sh` file
+```
+git clone https://github.com/icub-tech-iit/iCubOS-playbook.git
+
+cd iCubOS-playbook/
+
+sudo ./start.sh
+
+```
+A reboot is recommended in order to load the Lowlatency kernel instead of the Generic.
+
+Once the installation is completed  follow the [Networking](https://icub-tech-iit.github.io/documentation/icub_operating_systems/icubos/networking/#external-network-configurations) chapter of the guide to configure the network using netplan or your favourite network manager system.

docs/icub_operating_systems/icubos/installation-from-scratch-22.04.md

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+# The OS on icub-head - Installation from scratch
+
+Since iCubOS is based on the Ubuntu server, we will install the latter from the default installer and then manually customize it.
+
+## Latest versions
+
+The latest version is based on Ubuntu Server 22.04
+
+## Create the USB installer
+
+The first step is to download the **official Ubuntu 22.04 LTS Server install media** from the [release page](https://releases.ubuntu.com/jammy). Search for `ubuntu-22.04.x-live-server-amd64.iso`.
+
+Then, please create the USB installer using a USB memory and a tool like [Balena Etcher](https://www.balena.io/etcher/).
+
+Find further information about creating a bootable USB stick on [Windows](https://ubuntu.com/tutorials/create-a-usb-stick-on-windows#1-overview), [Ubuntu](https://ubuntu.com/tutorials/create-a-usb-stick-on-ubuntu#1-overview) or [macOS](https://support.apple.com/en-us/101578).
+
+## Install Ubuntu
+
+Follow the below steps to install the Ubuntu server on icub-head.
+
+Please, note that the installation procedure can be slightly different in each release, you can see the [Ubuntu server official install guide](https://ubuntu.com/tutorials/tutorial-install-ubuntu-server)
+
+!!! warning
+
+    The installation procedure will overwrite the disk of your icub-head, so all data will be deleted.
+
+### Ubuntu Installer configuration
+
+Install the system by choosing the default options, except for the following steps:
+
+#### Keyboard and language
+
+- **Layout** : `US`
+- **Variant** : `US`
+
+#### Storage configuration
+
+- _**Disable** the following option_ : `Setup this disk as an LVM group`
+
+#### Identity
+
+- **Your name** : `icub`
+- **Your Server's name** : `icub-head`
+- **Pick a username** : `icub`
+- **Choose a password** : `icub`
+
+#### SSH
+
+- _**Enable** the following option_ : `Install SSH server`
+
+## Required Packages
+
+Install the following packages
+```
+nfs-common python-tk libopencv-dev ntpdate vim ssh cmake-curses-gui iperf libportaudio2 portaudio19-dev linux-sound-base alsa-base alsa-utils gdb meld bmon libi2c-dev expect libgfortran-10-dev qml-module-qt-labs-folderlistmodel qml-module-qt-labs-settings
+```
+
+### Low Latency kernel
+
+Install the following packages
+```
+linux-image-lowlatency linux-headers-lowlatency
+```
+
+### Disable X server at startup
+
+The x server is started automatically at startup by GDM, so please disable GDM
+```
+sudo systemctl disable gdm
+```
+
+## Configuration steps
+
+### SSH configuration
+
+1. Configure passwordless ssh: see this [link](https://askubuntu.com/questions/46930/how-can-i-set-up-password-less-ssh-login)
+2. Disable reverse DNS lookup in SSH server: add the following line to the file `/etc/ssh/sshd_config`
+  ```
+  UseDNS no
+  ```
+
+### Network performances tweaks
+
+1. Install the following packages
+  ```
+  sudo apt install linux-image-lowlatency linux-headers-lowlatency
+  ```
+
+2. Modify the real-time priority of the process, add the file  `/etc/security/limits.d/icub.conf ` as follows
+  ```
+  icub    soft    rtprio    99
+  icub    hard    rtprio    99
+  ```
+
+3. Set the max OS receive-buffer size for all types of connections, by adding the file `/etc/sysctl.d/20-net-rbuffer.conf` as follows
+  ```
+  # This sets the max OS receive-buffer size for all types of connections
+  net.core.rmem_max=8388608
+  ```
+
+## Customize the system
+
+What now you need to do is to customize the installation with your hardware and environment (see the "_Required configuration_" paragraph in [_Networking_](networking.md), [_Bluetooth_](bluetooth.md), [_User Environment_](user-env.md) chapters as well as [_Further Tasks_ chapter](further-tasks.md) )

docs/icub_operating_systems/other-machines/generic-machine-22.04.md

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+# Generic iCub environment machines
+
+This page contains instructions on how to prepare a machine to work in the iCub Subnet environment. This is a basic setup, useful as a starting point to prepare any kind of machine of the iCub ecosystem.
+
+## Operating System
+
+You can choose both a Debian or Ubuntu Linux, the currently suggested OS is [Ubuntu 22.04 (Jammy Jellyfish)](http://releases.ubuntu.com/22.04/).
+
+## User account
+
+### Users and Passwords
+
+The default user account is
+
+**Username** : `icub`
+**Password** : `icub`
+
+If you want to change the default password simply execute (*this works only if you are using persistence*)
+
+`passwd icub`
+
+!!! note "root login"
+    As in any Ubuntu installation, the root user has no password, this means that the direct login (i.e. *ssh root\@icub-head*) is disabled, but you can always do
+
+`sudo su - `
+
+
+Add the icub user to the sudoers group, as follows
+
+`sudo usermod -aG sudo icub`
+
+## Required and useful Packages
+
+Please install the following packages (names are correct for Ubuntu 20.04, please check the corresponding package in your distribution):
+
+` nfs-common python-tk libopencv-dev ntpdate ssh cmake-curses-gui`
+
+Also install (optional, but very useful) the following packages:
+
+`vim iperf`
+
+## Debian Software repository
+
+!!! warning "for Debian systems"
+    this step is required only for a Debian machine.
+
+Enable the **non-free** and **contrib** sources, by editing the file `/etc/apt/sources.list`
+
+## Network configuration
+
+You have two options:
+
+- Static IP address (this option is **mandatory**  if there is no DHCP in your subnet - like in the case of the [iCub Console Server](icub-server-laptop.md) - or if your machine is the DHCP server - this is the case of  the [iCub Dedicated Server](icub-server-from-scratch.md) )
+- Dynamic DHCP IP address
+
+### Configuration methods
+Usually, if you have a Desktop installed on your machine it's better to use the default desktop network tool (eg. in Ubuntu 22.04 the tool is [Network Manager](https://help.ubuntu.com/community/NetworkManager) ) or using its cli UI `nmtui` very powerfull and easy to use even when conneted via `ssh`.
+
+Otherwise, you can configure the network interfaces using the command line configuration files (eg. in Ubuntu 22.04 you have to deal with [NETPLAN](https://netplan.io/) )
+
+### the HOSTS file
+Please check that the file `/etc/hosts` looks as follows:
+
+```
+127.0.0.1       localhost
+127.0.1.1       MACHINE_HOSTNAME.icub.local       MACHINE_HOSTNAME
+```
+
+where **MACHINE_HOSTNAME** is the hostname of you machine, that should match the file `/etc/hostname`
+
+
+## NTP configuration
+
+!!! warning "in case of iCub server"
+    Skip this step in case of [iCub Console Server](icub-server-laptop.md) or [iCub Dedicated Server](icub-server-from-scratch.md)
+
+You should configure this machine as an NTP client and then configure the NTP service to point to `icub-srv` as an NTP server.
+
+You can use several different packages to install an NTP client, but we recommend using `systemd-timesyncd` and removing the package `ntp`, if present.
+
+To configure `timesyncd` the only thing needed is to edit the file `/etc/systemd/timesyncd.conf` adding the line `NTP=10.0.0.1` or your current NTP server IP address.
+
+Not mandatory but recommanded add also in the same file the line `FallbackNTP=ntp.ubuntu.com` this will be our backup NTP server.
+
+Finally restart `timesyncd`service
+
+`sudo systemctl restart systemd-timesyncd`
+
+## iCub user environment variables
+
+!!! warning "in case of iCub dedicated server"
+    Skip this step in case of [iCub Dedicated Server](icub-server-from-scratch.md)
+
+see [_User Environment_](../icubos/user-env.md) chapter
+
+## Customize the system
+
+What now you need to do is to customize the installation with your hardware and environment (see [_User Environment_](../icubos/user-env.md) chapter)
+
+## Special computers
+
+In case of special machines (such as the cuda workstation or icub laptop) you must follow further steps in order to complete the installation:
+
+-   [iCub Dedicated Server](icub-server-from-scratch.md)
+-   [iCub Console Server](icub-server-laptop.md)
+-   [The nVidia CUDA workstation](cuda-workstation.md)

mkdocs.yml

@@ -230,6 +230,8 @@ nav:
           - Installation:
             - Installation from pre-built image: icub_operating_systems/icubos/installation-from-image.md
             - Installation from scratch: icub_operating_systems/icubos/installation-from-scratch.md
+            - Installation from scratch-22.04: icub_operating_systems/icubos/installation-from-scratch-22.04.md
+            - Installation from Ansible playbook: icub_operating_systems/icubos/installation-from-ansible-playbook.md
           - Networking: icub_operating_systems/icubos/networking.md
           - Bluetooth: icub_operating_systems/icubos/bluetooth.md
           - User environment: icub_operating_systems/icubos/user-env.md
@@ -241,6 +243,7 @@ nav:
           - Details: icub_operating_systems/pc104/the-icub-live-details.md
         - The OS on other machines (not on robot):
           - Generic iCub environment machines: icub_operating_systems/other-machines/generic-machine.md
+          - Generic iCub environment machines-22.04: icub_operating_systems/other-machines/generic-machine-22.04.md
           - The iCub Server:
             - The iCub Dedicated Server:
               - Summary: icub_operating_systems/other-machines/icub-server-os.md