Rsewiki - User contributions [en]

Install on (K)UBUNTU

2014-04-10T15:00:55Z

Cjag: /* UBUNTU version 10.4/10.10/11.04/11.10/12.04/12.10 */

This is intended as a guidance to install MOBOTWARE

The platform tested is KUBUNTU, UBUNTU and XUBUNTU.

All robots run - for now - '''32-bit LINUX distributions''' and thus tested much more than 64-bit.
On 64-bit Ubuntu, Mobotware compiles, runs and is tested to some extend.

==UBUNTU version 10.4/10.10/11.04/11.10/12.04==

This description is valid for UBUNTU, KUBUNTU and XUBUNTU

* From version 11.04 of UBUNTU, KUBUNTU or XUBUNTU there is no support for USB-webcam using campool plug-in. The plugin "auv4lgst" is the replacement for USB-webcams supported by gstreamer (most modern webcams))
* Preferred version is (K)Ubuntu 12.04 32 bit for Mobotware version >=2.1912 - with only a few outstanding issues (e.g. RTEA).

After successfully installing KUBUNTU, UBUNTU or XUBUBTU, install the following packages

e.g. install a package from the command-prompt like:
sudo apt-get install cmake

Needed packages:
- subversion (if you have access to source on SVN)
- gcc
- g++
- cmake
- doxygen (for documentation only)
- libopencv-dev (ubuntu from 12.4, for earlier versions of ubuntu: try load libhighgui-dev and libcv-dev instead)
- libopencv-gpu-dev
- libraw1394-dev
- libdc1394-22-dev
- libpng-dev
- libexpat-dev
- ncurses-dev
- libpci-dev
- libreadline-dev
- libsdl-dev
- bison (for MRC)
- libudev-dev
- icedtea-plugin (to run MARG)
- libusb-dev (MUST be version 1.0.3 or better - (used for Kinect only (see note))
- ffmpeg (video codex etc.)
- libv4l-dev (video usage)
- putty (useful serial terminal emulator)
- kdevelop or eclipse (integrated development environment - not strictly needed (and not with XUBUNTU))
- lsof (to track open files - also device files)
- libboost-dev (used by aulocalizer plug-in, but also included in libpcl)
- libboost-system-dev
- python-dev (can p.t. do without)
- libpcl-all-dev (see PCL-note)
- libgstreamer0.10-dev (for client and camera interface)

Packages to compile AVR-C - e.g. motor controller and labyrinth
- gcc-avr
- binutils-avr
- avr-libc

=== PCL ===
The Point Clouds Library (PCL) is in a separate ubuntu repository, so see the instructions on:
http://pointclouds.org/downloads/linux.html

At the moment Mobotware does not compile when you install version 1.7. Install version 1.6 instead.

=== Boost ===
====locale.hpp not found====

In some cases compile of auviewer fails complaining that boost/locale.hpp is not found.

changed in source file (in auviewer), from
#include <boost/locale.hpp>
to
#include <boost/typeof/std/locale.hpp>

====Ubuntu 12.10/13.04/13.10 32/64-bit - BOOST compile fails====

p.t. (may 2013) boost do not compile using GCC-4.7, as is default on 64 bit (ubuntu 13.04)
--update (august 2013) on clean install of Ubuntu 13.04 32 bit the problem is the same.

So use update-alternatives to switch to gcc-4.6

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

if update-alternatives has no alternatives,
then add them (taken from from http://askubuntu.com/questions/26498/choose-gcc-and-g-version)

Install compiler version 4.6 (assumint 4.7 is installed):

sudo apt-get install gcc-4.6 g++-4.6 cc-4.6

Install Alternatives

sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.7 10
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.6 20

sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.7 10
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.6 20

sudo update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30
sudo update-alternatives --set cc /usr/bin/gcc

sudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++ 30
sudo update-alternatives --set c++ /usr/bin/g++

Configure Alternatives

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

==== libboost ====
There is a problem during compilation of the plugin auviewer. To solve this problem locate the following file:
/usr/include/boost/thread/exceptions.hpp

Add the following code at line 11

//added by Jens Christian Andersen and Claes Jaeger for MobotWare to compile auviewer-plugin
//ubuntu 13.04(32bit), gcc 4.6 (downgrade from 4.7 - see rsewiki.elektro.dtu.dk), libboost 1.49
//produces errors when compiling, because of the attributes defines somewhere else in boost.
//the consequences for this hack has not been investigated, the compiled plugin has been tested and is working.
#define BOOST_SYMBOL_VISIBLE

As stated in the comments, the consequences have not been investigated, but so far it is working. Please notify us if you experince any problems because of this hack.

===OpenNI===

OpenNI is not used by mobotware (mobotware uses the freenect driver), but part of some of the examples in the PCL library uses the OpenNI driver.

Install openNI driver for Kinect requires additional packages:

* freeglut3-dev (3D graphics with openGL API)
* sun-java6-jdk (required to compile openNI - sudo add-apt-repository "deb http://archive.canonical.com/ lucid partner" and apt-get update

===LIBUSB-1.0.x===

For distributions older than 12.04:

See http://www.libusb.org/wiki/libusb-1.0, one way is to install from git-source.

If you installed libusb from
git clone git://git.libusb.org/libusb.git
then default is verbose logging to console (may have changed since i tryed it (ultimo 2011)).
One way to remove is to edit the configure script:

in the file '''configure''' find and remove these two lines (about line 770):
enable_log
enable_debug_log

Then run - as usual:
./configure
make
sudo make install

===Freenect LIB===

Latest version requires this packages:

* libxmu-dev
* libxi-dev

To compile from git source - not needed in mobotware

===openCV (and ROS) issues===

OpenCV in ubuntu 12.4 is version 2.3.1, and opencv-2.1 is not directly available in the for from openCV-1.0.

- ROS replaces default versions of OPENCV.

Installation of ros on ubuntu (kubuntu) see http://www.ros.org/wiki/electric/Installation/Ubuntu
The first part about adding source repository and "sudo apt-get update" is fine for installing openCV version 2.3.1 (sudo apt-get install libopencv2.3-dev) too. The same is probably true for the linear algebra template library (sudo apt-get install libeigen3-dev).

ROS electric installes (pt) openCV version 2.3.1, and this includes a pkg-config file with errors, all link directives "-l" includes the full path, which is a syntax error, so

edit the "Libs:" part of /usr/lib/pkgconfig/opencv-2.3.1.pc

from:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs: -l${exec_prefix}/lib/libopencv_contrib.so.2.3.1 -l${exec_prefix}/lib/libopencv_legacy.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_objdetect.so.2.3.1 -l${exec_prefix}/lib/libopencv_calib3d.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_features2d.so.2.3.1 -l${exec_prefix}/lib/libopencv_video.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_highgui.so.2.3.1 -l${exec_prefix}/lib/libopencv_ml.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_imgproc.so.2.3.1 -l${exec_prefix}/lib/libopencv_flann.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_core.so.2.3.1
Cflags: -I${includedir_old} -I${includedir_new}

to:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs: -lopencv_contrib -lopencv_legacy -lopencv_objdetect -lopencv_calib3d \
-lopencv_features2d -lopencv_video -lopencv_highgui -lopencv_ml \
-lopencv_imgproc -lopencv_flann -lopencv_core
Cflags: -I${includedir_old} -I${includedir_new}

All relevant Makefiles should now be modified - since SVN version 1768. And updated to detect openCV version 2.1, 2.3.1, and the version installed with ubuntu 12.4.

Thanks to: http://mpt-internal.uni-hohenheim.de/doku.php?id=robotsoftware:mobotware:mobotware-ros

==IDE==

From an Integrated Development Environment (IDE) all parts of the project can be loaded, compiled and debugged using the provided Makefiles

KDEvelop and Eclipse can be recommended.

(for Eclipse see [[Remote Development of Mobotware Using Eclipse]])

==Compile Install Run==

Go to the directory with the Mobotware source

===Unpack===

If from a packed version (see below for SVN source), then

tar -xzf mobotware-3.XXXX.tar.gz

then go to the created directory

cd mobotware-3.XXXX

===Compile===

From the top level Mobotware directory

make

This is needed even if you are going to compile a plugin only to make needed libraryies. There is (usually) seperate makefiles for each plugin and utility, that can be used once the libraries are in place.

===Install===

To make the compiled version available on the command line (installed under /usr/local):
* on a standalobe development computer:

sudo make install

* On a robot you cam make a local version, that can be selected using "switchtool". (reverts back to default version after a reboot)

sudo make install VER=2012z

* For a new release on our fileserver (for VIP users on kalman only). This exports Mobotware files to a new directory, compiles all needed files, and copies binary files to e.g. "kalman:/opt/smr.2012m". this directory must exist on kalman (usually created as a copy from a previous version).

./exportMobotware (and type in the SVN revision number, that is used in filenames, e.g. 62)
cd mobotware-3.62
make kalman VER=2012m

===Run===

Further set PATH and LD_LIBRARY_PATH inmake add the following lines to ~/.bashrc (or /etc/bash.bashrc)

export PATH=$PATH:/home/jca/svn/build/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/jca/svn/build/lib

(restart your terminal to put the lines into effect)

==Maintain SVN source==

New version is fetched from command prompt by:

cd ~/mobotware
svn update

When you have changed a file send it back to the svn-repository from the directory with the file, or one of the parent folders known to svn (svn will ask for a note for the change log):

svn commit

To add a new set of files, just make a new set of source files - preferably in a new directory (inside the mobotware file tree) - and add the new directory by (e.g. called foo):

svn add foo
A foo
A foo/Makefile
A foo/bar.cpp
A foo/bar.cpp~
A (bin) foo/bar.o

This adds the directory and all the files in it, if too many files were added the surplus can be removed from add-list by e.g.:

svn reveret foo/bar.cpp~ foo/bar.o

You may let SVN modify a line in the source code with revision number or an iID with update details, by addinf $Rev$ or $Id$ somewhere in the source file, and make this field active by:

svn propset svn:keywords 'Id Revision' foo

Then the additions and changes must be committed to go to the repository (starts an editor for a commit remark)

svn commit

or to skip the step with the remark editor:

svn commit -m "in-line commit remark"

==Debug==

Using debugger to attach to a running process may fail with the message:

Could not attach debugger:
ptrace: Operation not permitted.

Most likely, it is solved by changing:

ptrace_scope to 0 in /etc/sysctl.d/10-ptrace.conf

==Test==

(to be continued with test and example instructions)

Install on (K)UBUNTU

2013-10-08T08:35:33Z

Cjag: /* PCL */

This is intended as a guidance to install MOBOTWARE

The platform tested is KUBUNTU, UBUNTU and XUBUNTU.

All robots run - for now - '''32-bit LINUX distributions''' and thus tested much more than 64-bit.
On 64-bit Ubuntu, Mobotware compiles, runs and is tested to some extend.

==UBUNTU version 10.4/10.10/11.04/11.10/12.04/12.10==

This description is valid for UBUNTU, KUBUNTU and XUBUNTU

* From version 11.04 of UBUNTU, KUBUNTU or XUBUNTU there is no support for USB-webcam using campool plug-in. The plugin "auv4lgst" is the replacement for USB-webcams supported by gstreamer (most modern webcams))
* Preferred version is (K)Ubuntu 12.04 32 bit for Mobotware version >=2.1912 - with only a few outstanding issues (e.g. RTEA).

After successfully installing KUBUNTU, UBUNTU or XUBUBTU, install the following packages

e.g. install a package from the command-prompt like:
sudo apt-get install cmake

Needed packages:
- subversion (if you have access to source on SVN)
- gcc
- g++
- cmake
- doxygen (for documentation only)
- libopencv-dev (ubuntu from 12.4, for earlier versions of ubuntu: try load libhighgui-dev and libcv-dev instead)
- libraw1394-dev
- libdc1394-22-dev
- libpng-dev
- libexpat-dev
- ncurses-dev
- libpci-dev
- libreadline-dev
- libsdl-dev
- bison (for MRC)
- libudev-dev
- icedtea-plugin (to run MARG)
- libusb-dev (MUST be version 1.0.3 or better - (used for Kinect only (see note))
- ffmpeg (to convert a recorded image sequence to a video - see camera server)
- libv4l-dev (pt. only for auv4l2 plug-in, that is not released yet)
- putty (useful serial terminal emulator)
- kdevelop or eclipse (integrated development environment - not strictly needed (and not with XUBUNTU))
- lsof (to track open files - also device files)
- libboost-dev (used by aulocalizer plug-in, but also included in libpcl)
- libpcl-all-dev (see PCL-note)
- libgstreamer0.10-dev (for client and camera interface)

Packages to compile AVR-C - e.g. motor controller and labyrinth
- gcc-avr
- binutils-avr
- avr-libc

=== PCL ===
The Point Clouds Library (PCL) is in a separate ubuntu repository, so see the instructions on:
http://pointclouds.org/downloads/linux.html

At the moment Mobotware does not compile when you install version 1.7. Install version 1.6 instead.

=== Boost ===
====locale.hpp not found====

In some cases compile of auviewer fails complaining that boost/locale.hpp is not found.

changed in source file (in auviewer), from
#include <boost/locale.hpp>
to
#include <boost/typeof/std/locale.hpp>

====Ubuntu 13.04 32/64-bit - BOOST compile fails====

p.t. (may 2013) boost do not compile using GCC-4.7, as is default on 64 bit (ubuntu 13.04)
--update (august 2013) on clean install of Ubuntu 13.04 32 bit the problem is the same.

So use update-alternatives to switch to gcc-4.6

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

if update-alternatives has no alternatives,
then add them (taken from from http://askubuntu.com/questions/26498/choose-gcc-and-g-version)

Install compiler version 4.6 (assumint 4.7 is installed):

sudo apt-get install gcc-4.6 g++-4.6 cc-4.6

Install Alternatives

sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.7 10
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.6 20

sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.7 10
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.6 20

sudo update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30
sudo update-alternatives --set cc /usr/bin/gcc

sudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++ 30
sudo update-alternatives --set c++ /usr/bin/g++

Configure Alternatives

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

==== libboost ====
There is a problem during compilation of the plugin auviewer. To solve this problem locate the following file:
/usr/include/boost/thread/exceptions.hpp

Add the following code at line 11

//added by Jens Christian Andersen and Claes Jaeger for MobotWare to compile auviewer-plugin
//ubuntu 13.04(32bit), gcc 4.6 (downgrade from 4.7 - see rsewiki.elektro.dtu.dk), libboost 1.49
//produces errors when compiling, because of the attributes defines somewhere else in boost.
//the consequences for this hack has not been investigated, the compiled plugin has been tested and is working.
#define BOOST_SYMBOL_VISIBLE

As stated in the comments, the consequences have not been investigated, but so far it is working. Please notify us if you experince any problems because of this hack.

===OpenNI===

OpenNI is not used by mobotware (mobotware uses the freenect driver), but part of some of the examples in the PCL library uses the OpenNI driver.

Install openNI driver for Kinect requires additional packages:

* freeglut3-dev (3D graphics with openGL API)
* sun-java6-jdk (required to compile openNI - sudo add-apt-repository "deb http://archive.canonical.com/ lucid partner" and apt-get update

===LIBUSB-1.0.x===

For distributions older than 12.04:

See http://www.libusb.org/wiki/libusb-1.0, one way is to install from git-source.

If you installed libusb from
git clone git://git.libusb.org/libusb.git
then default is verbose logging to console (may have changed since i tryed it (ultimo 2011)).
One way to remove is to edit the configure script:

in the file '''configure''' find and remove these two lines (about line 770):
enable_log
enable_debug_log

Then run - as usual:
./configure
make
sudo make install

===Freenect LIB===

Latest version requires this packages:

* libxmu-dev
* libxi-dev

To compile from git source - not needed in mobotware

===openCV (and ROS) issues===

OpenCV in ubuntu 12.4 is version 2.3.1, and opencv-2.1 is not directly available in the for from openCV-1.0.

- ROS replaces default versions of OPENCV.

Installation of ros on ubuntu (kubuntu) see http://www.ros.org/wiki/electric/Installation/Ubuntu
The first part about adding source repository and "sudo apt-get update" is fine for installing openCV version 2.3.1 (sudo apt-get install libopencv2.3-dev) too. The same is probably true for the linear algebra template library (sudo apt-get install libeigen3-dev).

ROS electric installes (pt) openCV version 2.3.1, and this includes a pkg-config file with errors, all link directives "-l" includes the full path, which is a syntax error, so

edit the "Libs:" part of /usr/lib/pkgconfig/opencv-2.3.1.pc

from:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs: -l${exec_prefix}/lib/libopencv_contrib.so.2.3.1 -l${exec_prefix}/lib/libopencv_legacy.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_objdetect.so.2.3.1 -l${exec_prefix}/lib/libopencv_calib3d.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_features2d.so.2.3.1 -l${exec_prefix}/lib/libopencv_video.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_highgui.so.2.3.1 -l${exec_prefix}/lib/libopencv_ml.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_imgproc.so.2.3.1 -l${exec_prefix}/lib/libopencv_flann.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_core.so.2.3.1
Cflags: -I${includedir_old} -I${includedir_new}

to:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs: -lopencv_contrib -lopencv_legacy -lopencv_objdetect -lopencv_calib3d \
-lopencv_features2d -lopencv_video -lopencv_highgui -lopencv_ml \
-lopencv_imgproc -lopencv_flann -lopencv_core
Cflags: -I${includedir_old} -I${includedir_new}

All relevant Makefiles should now be modified - since SVN version 1768. And updated to detect openCV version 2.1, 2.3.1, and the version installed with ubuntu 12.4.

Thanks to: http://mpt-internal.uni-hohenheim.de/doku.php?id=robotsoftware:mobotware:mobotware-ros

==IDE==

From an Integrated Development Environment (IDE) all parts of the project can be loaded, compiled and debugged using the provided Makefiles

KDEvelop and Eclipse can be recommended.

(for Eclipse see [[Remote Development of Mobotware Using Eclipse]])

==Compile Install Run==

Go to the directory with the Mobotware source

===Unpack===

If from a packed version (see below for SVN source), then

tar -xzf mobotware-3.XXXX.tar.gz

then go to the created directory

cd mobotware-3.XXXX

===Compile===

From the top level Mobotware directory

make

This is needed even if you are going to compile a plugin only to make needed libraryies. There is (usually) seperate makefiles for each plugin and utility, that can be used once the libraries are in place.

===Install===

To make the compiled version available on the command line (installed under /usr/local):
* on a standalobe development computer:

sudo make install

* On a robot you cam make a local version, that can be selected using "switchtool". (reverts back to default version after a reboot)

sudo make install VER=2012z

* For a new release on our fileserver (for VIP users on kalman only). This exports Mobotware files to a new directory, compiles all needed files, and copies binary files to e.g. "kalman:/opt/smr.2012m". this directory must exist on kalman (usually created as a copy from a previous version).

./exportMobotware (and type in the SVN revision number, that is used in filenames, e.g. 62)
cd mobotware-3.62
make kalman VER=2012m

===Run===

Further set PATH and LD_LIBRARY_PATH inmake add the following lines to ~/.bashrc (or /etc/bash.bashrc)

export PATH=$PATH:/home/jca/svn/build/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/jca/svn/build/lib

(restart your terminal to put the lines into effect)

==Maintain SVN source==

New version is fetched from command prompt by:

cd ~/mobotware
svn update

When you have changed a file send it back to the svn-repository from the directory with the file, or one of the parent folders known to svn (svn will ask for a note for the change log):

svn commit

To add a new set of files, just make a new set of source files - preferably in a new directory (inside the mobotware file tree) - and add the new directory by (e.g. called foo):

svn add foo
A foo
A foo/Makefile
A foo/bar.cpp
A foo/bar.cpp~
A (bin) foo/bar.o

This adds the directory and all the files in it, if too many files were added the surplus can be removed from add-list by e.g.:

svn reveret foo/bar.cpp~ foo/bar.o

You may let SVN modify a line in the source code with revision number or an iID with update details, by addinf $Rev$ or $Id$ somewhere in the source file, and make this field active by:

svn propset svn:keywords 'Id Revision' foo

Then the additions and changes must be committed to go to the repository (starts an editor for a commit remark)

svn commit

or to skip the step with the remark editor:

svn commit -m "in-line commit remark"

==Debug==

Using debugger to attach to a running process may fail with the message:

Could not attach debugger:
ptrace: Operation not permitted.

Most likely, it is solved by changing:

ptrace_scope to 0 in /etc/sysctl.d/10-ptrace.conf

==Test==

(to be continued with test and example instructions)

User:Cjag

2013-09-09T15:14:08Z

Cjag:

[[File:Claes.png|100px]]

'''Claes L. Dühring Jæger''' 
Institute of Agricultural Engineering, [https://mpt.uni-hohenheim.de/ Instrumentation & Test Engineering] 
[https://www.uni-hohenheim.de/ University of Hohenheim] 
Garbenstr. 9
D-70599 Stuttgart
Phone: +49 711 459-24552 
[mailto:c.jaeger-hansen@uni-hohenheim.de c.jaeger-hansen@uni-hohenheim.de] 

DTU-Elektro, Automation and Control 
Elektrovej Building 326 
DK-2800 Lyngby 
[mailto:cjag@elektro.dtu.dk cjag@elektro.dtu.dk]

User:Cjag

2013-09-09T10:30:04Z

Cjag:

[[File:Claes.png|100px]]

'''Claes L. Dühring Jæger''' 
Institute of Agricultural Engineering, [https://mpt.uni-hohenheim.de/ Instrumentation & Test Engineering] 
[https://www.uni-hohenheim.de/ University of Hohenheim] 
Phone: +49 (0)711 459-24552 
[mailto:c.jaeger-hansen@uni-hohenheim.de c.jaeger-hansen@uni-hohenheim.de] 

DTU-Elektro, Automation and Control 
Elektrovej Building 326 
DK-2800 Lyngby 
[mailto:cjag@elektro.dtu.dk cjag@elektro.dtu.dk]

File:Claes.png

2013-09-09T10:12:10Z

Cjag: Profile picture of Claes

Profile picture of Claes

User:Cjag

2013-09-09T10:10:52Z

Cjag: Created page with "Claes Dühring Jæger [https://mpt.uni-hohenheim.de/ Instrumentation & Test Engineering], Institute of Agricultural Engineering, [https://agrar.uni-hohenheim.de/ Faculty of Ag..."

Claes Dühring Jæger
[https://mpt.uni-hohenheim.de/ Instrumentation & Test Engineering], Institute of Agricultural Engineering, [https://agrar.uni-hohenheim.de/ Faculty of Agricultural Sciences], [https://www.uni-hohenheim.de/ University of Hohenheim] 

[[File:Claes.png|200px]]

M. Sc. Claes L. Jaeger-Hansen

Scientific staff

Phone: +49 (0)711 459-24552

[mailto:c.jaeger-hansen@uni-hohenheim.de c.jaeger-hansen@uni-hohenheim.de]

DTU-Elektro, Automation and Control
Elektrovej Building 326
DK-2800 Lyngby

Install on (K)UBUNTU

2013-09-09T10:06:27Z

Cjag: /* Ubuntu 13.04 32/64-bit - BOOST compile fails */

This is intended as a guidance to install MOBOTWARE

The platform tested is KUBUNTU, UBUNTU and XUBUNTU.

All robots run - for now - '''32-bit LINUX distributions''' and thus tested much more than 64-bit.
On 64-bit Ubuntu, Mobotware compiles, runs and is tested to some extend.

==UBUNTU version 10.4/10.10/11.04/11.10/12.04/12.10==

This description is valid for UBUNTU, KUBUNTU and XUBUNTU

* From version 11.04 of UBUNTU, KUBUNTU or XUBUNTU there is no support for USB-webcam using campool plug-in. The plugin "auv4lgst" is the replacement for USB-webcams supported by gstreamer (most modern webcams))
* Preferred version is (K)Ubuntu 12.04 32 bit for Mobotware version >=2.1912 - with only a few outstanding issues (e.g. RTEA).

After successfully installing KUBUNTU, UBUNTU or XUBUBTU, install the following packages

e.g. install a package from the command-prompt like:
sudo apt-get install cmake

Needed packages:
- subversion (if you have access to source on SVN)
- gcc
- g++
- cmake
- doxygen (for documentation only)
- libopencv-dev (ubuntu from 12.4, for earlier versions of ubuntu: try load libhighgui-dev and libcv-dev instead)
- libraw1394-dev
- libdc1394-22-dev
- libpng-dev
- libexpat-dev
- ncurses-dev
- libpci-dev
- libreadline-dev
- libsdl-dev
- bison (for MRC)
- libudev-dev
- icedtea-plugin (to run MARG)
- libusb-dev (MUST be version 1.0.3 or better - (used for Kinect only (see note))
- ffmpeg (to convert a recorded image sequence to a video - see camera server)
- libv4l-dev (pt. only for auv4l2 plug-in, that is not released yet)
- putty (useful serial terminal emulator)
- kdevelop or eclipse (integrated development environment - not strictly needed (and not with XUBUNTU))
- lsof (to track open files - also device files)
- libboost-dev (used by aulocalizer plug-in, but also included in libpcl)
- libpcl-all-dev (see PCL-note)
- libgstreamer0.10-dev (for client and camera interface)

Packages to compile AVR-C - e.g. motor controller and labyrinth
- gcc-avr
- binutils-avr
- avr-libc

=== PCL ===
The Point Clouds Library (PCL) is in a separate ubuntu repository, so see the instructions on:
http://pointclouds.org/downloads/linux.html

=== Boost ===
====locale.hpp not found====

In some cases compile of auviewer fails complaining that boost/locale.hpp is not found.

changed in source file (in auviewer), from
#include <boost/locale.hpp>
to
#include <boost/typeof/std/locale.hpp>

====Ubuntu 13.04 32/64-bit - BOOST compile fails====

p.t. (may 2013) boost do not compile using GCC-4.7, as is default on 64 bit (ubuntu 13.04)
--update (august 2013) on clean install of Ubuntu 13.04 32 bit the problem is the same.

So use update-alternatives to switch to gcc-4.6

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

if update-alternatives has no alternatives,
then add them (taken from from http://askubuntu.com/questions/26498/choose-gcc-and-g-version)

Install compiler version 4.6 (assumint 4.7 is installed):

sudo apt-get install gcc-4.6 g++-4.6 cc-4.6

Install Alternatives

sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.7 10
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.6 20

sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.7 10
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.6 20

sudo update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30
sudo update-alternatives --set cc /usr/bin/gcc

sudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++ 30
sudo update-alternatives --set c++ /usr/bin/g++

Configure Alternatives

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

==== libboost ====
There is a problem during compilation of the plugin auviewer. To solve this problem locate the following file:
/usr/include/boost/thread/exceptions.hpp

Add the following code at line 11

//added by Jens Christian Andersen and Claes Jaeger for MobotWare to compile auviewer-plugin
//ubuntu 13.04(32bit), gcc 4.6 (downgrade from 4.7 - see rsewiki.elektro.dtu.dk), libboost 1.49
//produces errors when compiling, because of the attributes defines somewhere else in boost.
//the consequences for this hack has not been investigated, the compiled plugin has been tested and is working.
#define BOOST_SYMBOL_VISIBLE

As stated in the comments, the consequences have not been investigated, but so far it is working. Please notify us if you experince any problems because of this hack.

===OpenNI===

OpenNI is not used by mobotware (mobotware uses the freenect driver), but part of some of the examples in the PCL library uses the OpenNI driver.

Install openNI driver for Kinect requires additional packages:

* freeglut3-dev (3D graphics with openGL API)
* sun-java6-jdk (required to compile openNI - sudo add-apt-repository "deb http://archive.canonical.com/ lucid partner" and apt-get update

===LIBUSB-1.0.x===

For distributions older than 12.04:

See http://www.libusb.org/wiki/libusb-1.0, one way is to install from git-source.

If you installed libusb from
git clone git://git.libusb.org/libusb.git
then default is verbose logging to console (may have changed since i tryed it (ultimo 2011)).
One way to remove is to edit the configure script:

in the file '''configure''' find and remove these two lines (about line 770):
enable_log
enable_debug_log

Then run - as usual:
./configure
make
sudo make install

===Freenect LIB===

Latest version requires this packages:

* libxmu-dev
* libxi-dev

To compile from git source - not needed in mobotware

===openCV (and ROS) issues===

OpenCV in ubuntu 12.4 is version 2.3.1, and opencv-2.1 is not directly available in the for from openCV-1.0.

- ROS replaces default versions of OPENCV.

Installation of ros on ubuntu (kubuntu) see http://www.ros.org/wiki/electric/Installation/Ubuntu
The first part about adding source repository and "sudo apt-get update" is fine for installing openCV version 2.3.1 (sudo apt-get install libopencv2.3-dev) too. The same is probably true for the linear algebra template library (sudo apt-get install libeigen3-dev).

ROS electric installes (pt) openCV version 2.3.1, and this includes a pkg-config file with errors, all link directives "-l" includes the full path, which is a syntax error, so

edit the "Libs:" part of /usr/lib/pkgconfig/opencv-2.3.1.pc

from:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs: -l${exec_prefix}/lib/libopencv_contrib.so.2.3.1 -l${exec_prefix}/lib/libopencv_legacy.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_objdetect.so.2.3.1 -l${exec_prefix}/lib/libopencv_calib3d.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_features2d.so.2.3.1 -l${exec_prefix}/lib/libopencv_video.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_highgui.so.2.3.1 -l${exec_prefix}/lib/libopencv_ml.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_imgproc.so.2.3.1 -l${exec_prefix}/lib/libopencv_flann.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_core.so.2.3.1
Cflags: -I${includedir_old} -I${includedir_new}

to:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs: -lopencv_contrib -lopencv_legacy -lopencv_objdetect -lopencv_calib3d \
-lopencv_features2d -lopencv_video -lopencv_highgui -lopencv_ml \
-lopencv_imgproc -lopencv_flann -lopencv_core
Cflags: -I${includedir_old} -I${includedir_new}

All relevant Makefiles should now be modified - since SVN version 1768. And updated to detect openCV version 2.1, 2.3.1, and the version installed with ubuntu 12.4.

Thanks to: http://mpt-internal.uni-hohenheim.de/doku.php?id=robotsoftware:mobotware:mobotware-ros

==IDE==

From an Integrated Development Environment (IDE) all parts of the project can be loaded, compiled and debugged using the provided Makefiles

KDEvelop and Eclipse can be recommended.

(for Eclipse see [[Remote Development of Mobotware Using Eclipse]])

==Compile Install Run==

Go to the directory with the Mobotware source

===Unpack===

If from a packed version (see below for SVN source), then

tar -xzf mobotware-3.XXXX.tar.gz

then go to the created directory

cd mobotware-3.XXXX

===Compile===

From the top level Mobotware directory

make

This is needed even if you are going to compile a plugin only to make needed libraryies. There is (usually) seperate makefiles for each plugin and utility, that can be used once the libraries are in place.

===Install===

To make the compiled version available on the command line (installed under /usr/local):
* on a standalobe development computer:

sudo make install

* On a robot you cam make a local version, that can be selected using "switchtool". (reverts back to default version after a reboot)

sudo make install VER=2012z

* For a new release on our fileserver (for VIP users on kalman only). This exports Mobotware files to a new directory, compiles all needed files, and copies binary files to e.g. "kalman:/opt/smr.2012m". this directory must exist on kalman (usually created as a copy from a previous version).

./exportMobotware (and type in the SVN revision number, that is used in filenames, e.g. 62)
cd mobotware-3.62
make kalman VER=2012m

===Run===

Further set PATH and LD_LIBRARY_PATH inmake add the following lines to ~/.bashrc (or /etc/bash.bashrc)

export PATH=$PATH:/home/jca/svn/build/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/jca/svn/build/lib

(restart your terminal to put the lines into effect)

==Maintain SVN source==

New version is fetched from command prompt by:

cd ~/mobotware
svn update

When you have changed a file send it back to the svn-repository from the directory with the file, or one of the parent folders known to svn (svn will ask for a note for the change log):

svn commit

To add a new set of files, just make a new set of source files - preferably in a new directory (inside the mobotware file tree) - and add the new directory by (e.g. called foo):

svn add foo
A foo
A foo/Makefile
A foo/bar.cpp
A foo/bar.cpp~
A (bin) foo/bar.o

This adds the directory and all the files in it, if too many files were added the surplus can be removed from add-list by e.g.:

svn reveret foo/bar.cpp~ foo/bar.o

You may let SVN modify a line in the source code with revision number or an iID with update details, by addinf $Rev$ or $Id$ somewhere in the source file, and make this field active by:

svn propset svn:keywords 'Id Revision' foo

Then the additions and changes must be committed to go to the repository (starts an editor for a commit remark)

svn commit

or to skip the step with the remark editor:

svn commit -m "in-line commit remark"

==Debug==

Using debugger to attach to a running process may fail with the message:

Could not attach debugger:
ptrace: Operation not permitted.

Most likely, it is solved by changing:

ptrace_scope to 0 in /etc/sysctl.d/10-ptrace.conf

==Test==

(to be continued with test and example instructions)

Install on (K)UBUNTU

2013-09-09T10:01:11Z

Cjag: /* Ubuntu 13.04 32/64-bit - BOOST compile fails */

This is intended as a guidance to install MOBOTWARE

The platform tested is KUBUNTU, UBUNTU and XUBUNTU.

All robots run - for now - '''32-bit LINUX distributions''' and thus tested much more than 64-bit.
On 64-bit Ubuntu, Mobotware compiles, runs and is tested to some extend.

==UBUNTU version 10.4/10.10/11.04/11.10/12.04/12.10==

This description is valid for UBUNTU, KUBUNTU and XUBUNTU

* From version 11.04 of UBUNTU, KUBUNTU or XUBUNTU there is no support for USB-webcam using campool plug-in. The plugin "auv4lgst" is the replacement for USB-webcams supported by gstreamer (most modern webcams))
* Preferred version is (K)Ubuntu 12.04 32 bit for Mobotware version >=2.1912 - with only a few outstanding issues (e.g. RTEA).

After successfully installing KUBUNTU, UBUNTU or XUBUBTU, install the following packages

e.g. install a package from the command-prompt like:
sudo apt-get install cmake

Needed packages:
- subversion (if you have access to source on SVN)
- gcc
- g++
- cmake
- doxygen (for documentation only)
- libopencv-dev (ubuntu from 12.4, for earlier versions of ubuntu: try load libhighgui-dev and libcv-dev instead)
- libraw1394-dev
- libdc1394-22-dev
- libpng-dev
- libexpat-dev
- ncurses-dev
- libpci-dev
- libreadline-dev
- libsdl-dev
- bison (for MRC)
- libudev-dev
- icedtea-plugin (to run MARG)
- libusb-dev (MUST be version 1.0.3 or better - (used for Kinect only (see note))
- ffmpeg (to convert a recorded image sequence to a video - see camera server)
- libv4l-dev (pt. only for auv4l2 plug-in, that is not released yet)
- putty (useful serial terminal emulator)
- kdevelop or eclipse (integrated development environment - not strictly needed (and not with XUBUNTU))
- lsof (to track open files - also device files)
- libboost-dev (used by aulocalizer plug-in, but also included in libpcl)
- libpcl-all-dev (see PCL-note)
- libgstreamer0.10-dev (for client and camera interface)

Packages to compile AVR-C - e.g. motor controller and labyrinth
- gcc-avr
- binutils-avr
- avr-libc

=== PCL ===
The Point Clouds Library (PCL) is in a separate ubuntu repository, so see the instructions on:
http://pointclouds.org/downloads/linux.html

=== Boost ===
====locale.hpp not found====

In some cases compile of auviewer fails complaining that boost/locale.hpp is not found.

changed in source file (in auviewer), from
#include <boost/locale.hpp>
to
#include <boost/typeof/std/locale.hpp>

====Ubuntu 13.04 32/64-bit - BOOST compile fails====

p.t. (may 2013) boost do not compile using GCC-4.7, as is default on 64 bit (ubuntu 13.04)
--update (august 2013) on clean install of Ubuntu 13.04 32 bit the problem is the same.

So use update-alternatives to switch to gcc-4.6

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

if update-alternatives has no alternatives,
then add them (taken from from http://askubuntu.com/questions/26498/choose-gcc-and-g-version)

Install compiler version 4.6 (assumint 4.7 is installed):

sudo apt-get install gcc-4.6 g++-4.6 cc-4.6

Install Alternatives

sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.7 10
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.6 20

sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.7 10
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.6 20

sudo update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30
sudo update-alternatives --set cc /usr/bin/gcc

sudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++ 30
sudo update-alternatives --set c++ /usr/bin/g++

Configure Alternatives

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

===OpenNI===

OpenNI is not used by mobotware (mobotware uses the freenect driver), but part of some of the examples in the PCL library uses the OpenNI driver.

Install openNI driver for Kinect requires additional packages:

* freeglut3-dev (3D graphics with openGL API)
* sun-java6-jdk (required to compile openNI - sudo add-apt-repository "deb http://archive.canonical.com/ lucid partner" and apt-get update

===LIBUSB-1.0.x===

For distributions older than 12.04:

See http://www.libusb.org/wiki/libusb-1.0, one way is to install from git-source.

If you installed libusb from
git clone git://git.libusb.org/libusb.git
then default is verbose logging to console (may have changed since i tryed it (ultimo 2011)).
One way to remove is to edit the configure script:

in the file '''configure''' find and remove these two lines (about line 770):
enable_log
enable_debug_log

Then run - as usual:
./configure
make
sudo make install

===Freenect LIB===

Latest version requires this packages:

* libxmu-dev
* libxi-dev

To compile from git source - not needed in mobotware

===openCV (and ROS) issues===

OpenCV in ubuntu 12.4 is version 2.3.1, and opencv-2.1 is not directly available in the for from openCV-1.0.

- ROS replaces default versions of OPENCV.

Installation of ros on ubuntu (kubuntu) see http://www.ros.org/wiki/electric/Installation/Ubuntu
The first part about adding source repository and "sudo apt-get update" is fine for installing openCV version 2.3.1 (sudo apt-get install libopencv2.3-dev) too. The same is probably true for the linear algebra template library (sudo apt-get install libeigen3-dev).

ROS electric installes (pt) openCV version 2.3.1, and this includes a pkg-config file with errors, all link directives "-l" includes the full path, which is a syntax error, so

edit the "Libs:" part of /usr/lib/pkgconfig/opencv-2.3.1.pc

from:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs: -l${exec_prefix}/lib/libopencv_contrib.so.2.3.1 -l${exec_prefix}/lib/libopencv_legacy.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_objdetect.so.2.3.1 -l${exec_prefix}/lib/libopencv_calib3d.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_features2d.so.2.3.1 -l${exec_prefix}/lib/libopencv_video.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_highgui.so.2.3.1 -l${exec_prefix}/lib/libopencv_ml.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_imgproc.so.2.3.1 -l${exec_prefix}/lib/libopencv_flann.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_core.so.2.3.1
Cflags: -I${includedir_old} -I${includedir_new}

to:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs: -lopencv_contrib -lopencv_legacy -lopencv_objdetect -lopencv_calib3d \
-lopencv_features2d -lopencv_video -lopencv_highgui -lopencv_ml \
-lopencv_imgproc -lopencv_flann -lopencv_core
Cflags: -I${includedir_old} -I${includedir_new}

All relevant Makefiles should now be modified - since SVN version 1768. And updated to detect openCV version 2.1, 2.3.1, and the version installed with ubuntu 12.4.

Thanks to: http://mpt-internal.uni-hohenheim.de/doku.php?id=robotsoftware:mobotware:mobotware-ros

==IDE==

From an Integrated Development Environment (IDE) all parts of the project can be loaded, compiled and debugged using the provided Makefiles

KDEvelop and Eclipse can be recommended.

(for Eclipse see [[Remote Development of Mobotware Using Eclipse]])

==Compile Install Run==

Go to the directory with the Mobotware source

===Unpack===

If from a packed version (see below for SVN source), then

tar -xzf mobotware-3.XXXX.tar.gz

then go to the created directory

cd mobotware-3.XXXX

===Compile===

From the top level Mobotware directory

make

This is needed even if you are going to compile a plugin only to make needed libraryies. There is (usually) seperate makefiles for each plugin and utility, that can be used once the libraries are in place.

===Install===

To make the compiled version available on the command line (installed under /usr/local):
* on a standalobe development computer:

sudo make install

* On a robot you cam make a local version, that can be selected using "switchtool". (reverts back to default version after a reboot)

sudo make install VER=2012z

* For a new release on our fileserver (for VIP users on kalman only). This exports Mobotware files to a new directory, compiles all needed files, and copies binary files to e.g. "kalman:/opt/smr.2012m". this directory must exist on kalman (usually created as a copy from a previous version).

./exportMobotware (and type in the SVN revision number, that is used in filenames, e.g. 62)
cd mobotware-3.62
make kalman VER=2012m

===Run===

Further set PATH and LD_LIBRARY_PATH inmake add the following lines to ~/.bashrc (or /etc/bash.bashrc)

export PATH=$PATH:/home/jca/svn/build/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/jca/svn/build/lib

(restart your terminal to put the lines into effect)

==Maintain SVN source==

New version is fetched from command prompt by:

cd ~/mobotware
svn update

When you have changed a file send it back to the svn-repository from the directory with the file, or one of the parent folders known to svn (svn will ask for a note for the change log):

svn commit

To add a new set of files, just make a new set of source files - preferably in a new directory (inside the mobotware file tree) - and add the new directory by (e.g. called foo):

svn add foo
A foo
A foo/Makefile
A foo/bar.cpp
A foo/bar.cpp~
A (bin) foo/bar.o

This adds the directory and all the files in it, if too many files were added the surplus can be removed from add-list by e.g.:

svn reveret foo/bar.cpp~ foo/bar.o

You may let SVN modify a line in the source code with revision number or an iID with update details, by addinf $Rev$ or $Id$ somewhere in the source file, and make this field active by:

svn propset svn:keywords 'Id Revision' foo

Then the additions and changes must be committed to go to the repository (starts an editor for a commit remark)

svn commit

or to skip the step with the remark editor:

svn commit -m "in-line commit remark"

==Debug==

Using debugger to attach to a running process may fail with the message:

Could not attach debugger:
ptrace: Operation not permitted.

Most likely, it is solved by changing:

ptrace_scope to 0 in /etc/sysctl.d/10-ptrace.conf

==Test==

(to be continued with test and example instructions)

Install on (K)UBUNTU

2013-09-09T10:00:48Z

Cjag: /* 64-bit - BOOST compile fails */

This is intended as a guidance to install MOBOTWARE

The platform tested is KUBUNTU, UBUNTU and XUBUNTU.

All robots run - for now - '''32-bit LINUX distributions''' and thus tested much more than 64-bit.
On 64-bit Ubuntu, Mobotware compiles, runs and is tested to some extend.

==UBUNTU version 10.4/10.10/11.04/11.10/12.04/12.10==

This description is valid for UBUNTU, KUBUNTU and XUBUNTU

* From version 11.04 of UBUNTU, KUBUNTU or XUBUNTU there is no support for USB-webcam using campool plug-in. The plugin "auv4lgst" is the replacement for USB-webcams supported by gstreamer (most modern webcams))
* Preferred version is (K)Ubuntu 12.04 32 bit for Mobotware version >=2.1912 - with only a few outstanding issues (e.g. RTEA).

After successfully installing KUBUNTU, UBUNTU or XUBUBTU, install the following packages

e.g. install a package from the command-prompt like:
sudo apt-get install cmake

Needed packages:
- subversion (if you have access to source on SVN)
- gcc
- g++
- cmake
- doxygen (for documentation only)
- libopencv-dev (ubuntu from 12.4, for earlier versions of ubuntu: try load libhighgui-dev and libcv-dev instead)
- libraw1394-dev
- libdc1394-22-dev
- libpng-dev
- libexpat-dev
- ncurses-dev
- libpci-dev
- libreadline-dev
- libsdl-dev
- bison (for MRC)
- libudev-dev
- icedtea-plugin (to run MARG)
- libusb-dev (MUST be version 1.0.3 or better - (used for Kinect only (see note))
- ffmpeg (to convert a recorded image sequence to a video - see camera server)
- libv4l-dev (pt. only for auv4l2 plug-in, that is not released yet)
- putty (useful serial terminal emulator)
- kdevelop or eclipse (integrated development environment - not strictly needed (and not with XUBUNTU))
- lsof (to track open files - also device files)
- libboost-dev (used by aulocalizer plug-in, but also included in libpcl)
- libpcl-all-dev (see PCL-note)
- libgstreamer0.10-dev (for client and camera interface)

Packages to compile AVR-C - e.g. motor controller and labyrinth
- gcc-avr
- binutils-avr
- avr-libc

=== PCL ===
The Point Clouds Library (PCL) is in a separate ubuntu repository, so see the instructions on:
http://pointclouds.org/downloads/linux.html

=== Boost ===
====locale.hpp not found====

In some cases compile of auviewer fails complaining that boost/locale.hpp is not found.

changed in source file (in auviewer), from
#include <boost/locale.hpp>
to
#include <boost/typeof/std/locale.hpp>

====Ubuntu 13.04 32/64-bit - BOOST compile fails====

p.t. (may 2013) boost do not compile using GCC-4.7, as is default on 64 bit (ubuntu 13.04)
update (august 2013) on clean install of Ubuntu 13.04 32 bit the problem is the same.

So use update-alternatives to switch to gcc-4.6

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

if update-alternatives has no alternatives,
then add them (taken from from http://askubuntu.com/questions/26498/choose-gcc-and-g-version)

Install compiler version 4.6 (assumint 4.7 is installed):

sudo apt-get install gcc-4.6 g++-4.6 cc-4.6

Install Alternatives

sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.7 10
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.6 20

sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.7 10
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.6 20

sudo update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30
sudo update-alternatives --set cc /usr/bin/gcc

sudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++ 30
sudo update-alternatives --set c++ /usr/bin/g++

Configure Alternatives

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

===OpenNI===

OpenNI is not used by mobotware (mobotware uses the freenect driver), but part of some of the examples in the PCL library uses the OpenNI driver.

Install openNI driver for Kinect requires additional packages:

* freeglut3-dev (3D graphics with openGL API)
* sun-java6-jdk (required to compile openNI - sudo add-apt-repository "deb http://archive.canonical.com/ lucid partner" and apt-get update

===LIBUSB-1.0.x===

For distributions older than 12.04:

See http://www.libusb.org/wiki/libusb-1.0, one way is to install from git-source.

If you installed libusb from
git clone git://git.libusb.org/libusb.git
then default is verbose logging to console (may have changed since i tryed it (ultimo 2011)).
One way to remove is to edit the configure script:

in the file '''configure''' find and remove these two lines (about line 770):
enable_log
enable_debug_log

Then run - as usual:
./configure
make
sudo make install

===Freenect LIB===

Latest version requires this packages:

* libxmu-dev
* libxi-dev

To compile from git source - not needed in mobotware

===openCV (and ROS) issues===

OpenCV in ubuntu 12.4 is version 2.3.1, and opencv-2.1 is not directly available in the for from openCV-1.0.

- ROS replaces default versions of OPENCV.

Installation of ros on ubuntu (kubuntu) see http://www.ros.org/wiki/electric/Installation/Ubuntu
The first part about adding source repository and "sudo apt-get update" is fine for installing openCV version 2.3.1 (sudo apt-get install libopencv2.3-dev) too. The same is probably true for the linear algebra template library (sudo apt-get install libeigen3-dev).

ROS electric installes (pt) openCV version 2.3.1, and this includes a pkg-config file with errors, all link directives "-l" includes the full path, which is a syntax error, so

edit the "Libs:" part of /usr/lib/pkgconfig/opencv-2.3.1.pc

from:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs: -l${exec_prefix}/lib/libopencv_contrib.so.2.3.1 -l${exec_prefix}/lib/libopencv_legacy.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_objdetect.so.2.3.1 -l${exec_prefix}/lib/libopencv_calib3d.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_features2d.so.2.3.1 -l${exec_prefix}/lib/libopencv_video.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_highgui.so.2.3.1 -l${exec_prefix}/lib/libopencv_ml.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_imgproc.so.2.3.1 -l${exec_prefix}/lib/libopencv_flann.so.2.3.1 \
-l${exec_prefix}/lib/libopencv_core.so.2.3.1
Cflags: -I${includedir_old} -I${includedir_new}

to:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs: -lopencv_contrib -lopencv_legacy -lopencv_objdetect -lopencv_calib3d \
-lopencv_features2d -lopencv_video -lopencv_highgui -lopencv_ml \
-lopencv_imgproc -lopencv_flann -lopencv_core
Cflags: -I${includedir_old} -I${includedir_new}

All relevant Makefiles should now be modified - since SVN version 1768. And updated to detect openCV version 2.1, 2.3.1, and the version installed with ubuntu 12.4.

Thanks to: http://mpt-internal.uni-hohenheim.de/doku.php?id=robotsoftware:mobotware:mobotware-ros

==IDE==

From an Integrated Development Environment (IDE) all parts of the project can be loaded, compiled and debugged using the provided Makefiles

KDEvelop and Eclipse can be recommended.

(for Eclipse see [[Remote Development of Mobotware Using Eclipse]])

==Compile Install Run==

Go to the directory with the Mobotware source

===Unpack===

If from a packed version (see below for SVN source), then

tar -xzf mobotware-3.XXXX.tar.gz

then go to the created directory

cd mobotware-3.XXXX

===Compile===

From the top level Mobotware directory

make

This is needed even if you are going to compile a plugin only to make needed libraryies. There is (usually) seperate makefiles for each plugin and utility, that can be used once the libraries are in place.

===Install===

To make the compiled version available on the command line (installed under /usr/local):
* on a standalobe development computer:

sudo make install

* On a robot you cam make a local version, that can be selected using "switchtool". (reverts back to default version after a reboot)

sudo make install VER=2012z

* For a new release on our fileserver (for VIP users on kalman only). This exports Mobotware files to a new directory, compiles all needed files, and copies binary files to e.g. "kalman:/opt/smr.2012m". this directory must exist on kalman (usually created as a copy from a previous version).

./exportMobotware (and type in the SVN revision number, that is used in filenames, e.g. 62)
cd mobotware-3.62
make kalman VER=2012m

===Run===

Further set PATH and LD_LIBRARY_PATH inmake add the following lines to ~/.bashrc (or /etc/bash.bashrc)

export PATH=$PATH:/home/jca/svn/build/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/jca/svn/build/lib

(restart your terminal to put the lines into effect)

==Maintain SVN source==

New version is fetched from command prompt by:

cd ~/mobotware
svn update

When you have changed a file send it back to the svn-repository from the directory with the file, or one of the parent folders known to svn (svn will ask for a note for the change log):

svn commit

To add a new set of files, just make a new set of source files - preferably in a new directory (inside the mobotware file tree) - and add the new directory by (e.g. called foo):

svn add foo
A foo
A foo/Makefile
A foo/bar.cpp
A foo/bar.cpp~
A (bin) foo/bar.o

This adds the directory and all the files in it, if too many files were added the surplus can be removed from add-list by e.g.:

svn reveret foo/bar.cpp~ foo/bar.o

You may let SVN modify a line in the source code with revision number or an iID with update details, by addinf $Rev$ or $Id$ somewhere in the source file, and make this field active by:

svn propset svn:keywords 'Id Revision' foo

Then the additions and changes must be committed to go to the repository (starts an editor for a commit remark)

svn commit

or to skip the step with the remark editor:

svn commit -m "in-line commit remark"

==Debug==

Using debugger to attach to a running process may fail with the message:

Could not attach debugger:
ptrace: Operation not permitted.

Most likely, it is solved by changing:

ptrace_scope to 0 in /etc/sysctl.d/10-ptrace.conf

==Test==

(to be continued with test and example instructions)

Main Page

2013-08-22T10:12:58Z

Cjag: /* Robots */

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research.

= Mobotware =

(Mobile Robot software)

AURS [[AU Robot Servers]] (camera, laser scanner, other servers and plugins)

[[RHD]] Robot Hardware Daemon

MRC - see SMR below

[[Version and download]]

= Robots =

[[List of SMRs]] (List of SMRs)

[[SMR]] (Small Mobile Robot)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter)

[[UR5]] (Universal Robot Arm)

[[Fieldrobot]] (Fieldrobot)

[[Labyrinth]] (Labyrinth game)

= Linux system considerations =

[[Switchtool]] - Shift to Mobotware (development) branch on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Ubuntu 32-bit or 64-bit]]

[[Authenticating Linux clients against MS Active Directory]]

====Older pages====

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install GUI-less UBUNTU]] - new boot disk image for robots

[[Install on raspberry]] - install RHD and MRC on raspbian

[[Robot GUI (MARG)]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

How to make a animation from separate images, see [[MMR]]

====older pages====

[[Transition to version 2011]] - notes

[[RoboCup]] - bl.a. scoreboard

[[Demo of stereo camera]]

[[AU software license considerations]]

= Demonstrations =

[[PLC controlled traffic light]]

[[Machine shop in 326]]

Main Page

2013-08-22T10:12:40Z

Cjag: /* Robots */

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research.

= Mobotware =

(Mobile Robot software)

AURS [[AU Robot Servers]] (camera, laser scanner, other servers and plugins)

[[RHD]] Robot Hardware Daemon

MRC - see SMR below

[[Version and download]]

= Robots =

[[List of SMRs]] (List of SMRs)

[[SMR]] (Small Mobile Robot)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter)

[[UR5]] (Universal Robot Arm)

[[Fieldrobot]] (Fieldrobot)

[[Labyrinth]] (Labyrinth game)

[[test]] Claes

= Linux system considerations =

[[Switchtool]] - Shift to Mobotware (development) branch on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Ubuntu 32-bit or 64-bit]]

[[Authenticating Linux clients against MS Active Directory]]

====Older pages====

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install GUI-less UBUNTU]] - new boot disk image for robots

[[Install on raspberry]] - install RHD and MRC on raspbian

[[Robot GUI (MARG)]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

How to make a animation from separate images, see [[MMR]]

====older pages====

[[Transition to version 2011]] - notes

[[RoboCup]] - bl.a. scoreboard

[[Demo of stereo camera]]

[[AU software license considerations]]

= Demonstrations =

[[PLC controlled traffic light]]

[[Machine shop in 326]]