Rsewiki - User contributions [en]

Remote Development of Mobotware Using Eclipse

2011-06-15T15:05:43Z

Eba: /* Ubuntu */

It is possible to use an [http://www.eclipse.org Eclipse], running locally on one's computer to remotely develop Mobotware residing in Kalman. This tutorial will describe how to set up eclipse so that one can:
* use full features of Eclipse including indexing, content assist, error highlighting and much more...
* build on the automation servers from inside Eclipse
* debug the code running on the SMRs while stepping through the source code and observing variables in Eclipse

The following description is for Eclipse Galileo (Eclipse 3.5.2), hopefully, the steps will not be very different in future versions.

There are essentially 4 things to do:

* Install Eclipse and the required plug-ins
* Mounted on the local file system the Mobotware directory (or a sub-directory of it) residing in Kalman.
* Set up an Eclipse project for remote development
* Configure Eclipse to make sure all the nice features are available

NOTE: The windows tutorial is not finished as of this very moment!

== Install Eclipse ==
One first needs to install Eclipse, along with the necessary plug-ins for C++ development as well as remote development. Installing Eclipse and enabling it for C++ development differs substantially between operating systems:

=== Windows ===
It is non-trivial to set up an Eclipse C++ development environment under windows. It is not particularly hard, but it's an integration between Eclipse, a plug-in called CDT and GCC ported to windows. It would be futile to list the steps as of writing this tutorial, as the process changes slightly depending on the versions of the named software elements. Try googling "C/C++ development using Eclipse under Windows" and come back when you have this working properly.

Now, it is necessary to install two other plug-ins for our task:
* TM and RSE (Remote system Explorer)
* Eclipse C/C++ Remote Launch

As you've probably already noticed while installing CDT, one installs Eclipse plug-ins through '''Help->Install New Sofware...'''. The drop down list next to '''Work with''' lists some software sites, but the ones we need are probably not there. Click on the 'Available Software Sites' link just under the '''Add...''' button to get a list of software sites compatible with your version of eclipse. You need to add:

''RSE - http://download.eclipse.org/dsdp/tm/updates/3.1'' - for ''TM and RSE''
''CDT - http://download.eclipse.org/tools/cdt/releases/galileo'' - for ''Eclipse C/C++ Remote Launch'', under ''CDT Optional Features''

Note that the above links and names might differ slightly depending on the version, but you're choosing from a list anyway.

=== Ubuntu ===
It is much easier to set up Eclipse for C++ development under Ubuntu. Simply type

sudo apt-get install eclipse

At the command line to install eclipse. This will probably be vanilla Eclipse that won't support plug-ins. So, if you have problems installing the plug-ins later, type

sudo apt-get install eclipse-pde

To prepare eclipse for the plug-ins. Eclipse plug-ins are installed through '''Help->Install New Sofware...'''. The drop down list next to '''Work with''' lists some software sites. We will install CDT (C/C++ Development Tools) from ''Galileo Update Site - http://download.eclipse.org/releases/galileo/''. This is for Eclipse Galileo of course, it will look slightly different on different versions. Select that site, and under ''Programming Languages'' mark ''Eclipse C/C++ Development Tools''. Finish the installation by clicking '''Next''' and so on...

At this point, you should be able to create, compile, run and debug local C/C++ projects as long as you have gcc and make installed. If not, try

sudo apt-get install gcc make

Now, it is necessary to install two other plug-ins for our task:
* TM and RSE (Remote system Explorer)
* Eclipse C/C++ Remote Launch

Go to '''Help->Install New Sofware...''' again, but the software sites we need are probably not in your drop down list. Click on the 'Available Software Sites' link just under the '''Add...''' button to get a list of software sites compatible with your version of eclipse. You need to add:

''RSE - http://download.eclipse.org/dsdp/tm/updates/3.1'' - for ''TM and RSE''
''CDT - http://download.eclipse.org/tools/cdt/releases/galileo'' - for ''Eclipse C/C++ Remote Launch'', under ''CDT Optional Features''

Note that the above links and names might differ slightly depending on the version, but you're choosing from a list anyway.

==Mount the Mobotware directory==
There are many ways to mount your home folder or directly the Mobotware directory residing on Kalman to your local file system. To avoid most complications, we will do it using sshfs here. In order to do so, we need to be able to connect to ''kalman.iau.dtu.dk'' using ssh.

If you are outside the automation network (such as on DTU wireless), you will have to tunnel to kalman through DTU G-Bar for instance. How to do this depends on your operating system. Note that, you do not need the tunneling step if you can already connect to ''kalman.iau.dtu.dk''

=== Tunneling to Kalman ===
==== Windows ====
[www.putty.org putty] is a great and free ssh client for windows and it supports tunneling.

==== Ubuntu ====
In order to tunnel to kalman through G-Bar, you will simply need to type the following in a new terminal:
ssh -L10000:kalman.iau.dtu.dk:22 {gbarusername}@login.gbar.dtu.dk

Don't forget to substitute ''{username}'' with your own.

=== Mounting a Directory from Kalman on Your File System ===
==== Windows ====
[http://dokan-dev.net/en/ Dokan] can be used to mount an sshfs drive on windows. Download and install the ''Dokan Library'' and then download and run the ''Dokan SSHFS''

==== Ubuntu ====
If you do not already have it installed, type the following to install sshfs

sudo apt-get install sshfs

Now create the folder where you would like to mount.

mkdir ''mountPoint''

If you have direct access to Kalman you can type the following to mount a drive from Kalman:

sshfs {kalmanusername}@kalman.iau.dtu.dk:''projectpath'' ''mountPoint''

If you created a tunnel as described before, then you need to go through that tunnel

sshfs -p 10000 {kalmanusername}@localhost:''projectpath'' ''mountPoint''

At this point, you should see the contents of the ''projectpath'' at the ''mountPoint''. You can verify this with:

ls ''mountPoint''

== Set up an Eclipse Remote Development Project ==

Go to '''File->New->Project...'''. Under '''C/C++''', choose '''C++ Project''' and click '''Next'''. Give your project a name, and uncheck the '''Use default location''' checkbox. This will enable the '''Location''' field. Choose the mounted base folder of your project inside the ''mountPoint''. In the '''Project Type''' field, choose '''Makefile project->Empty Project'''. Choose whichever GCC option in the '''Toolchains''' field. Create the project by pressing '''Finish'''.

Your project should now be visible in the '''Project Explorer''' view. At this point, you should be edit your source files, perform content assist on them and use many other Eclipse features, except for debugging on the robot and building on the server. If that is enough for you, you can stop here.

Next, we need to define the connections to ''nyquist'' (or ''jensen'') for compiling the project and to the SMR of your choice for running and debugging the executables on.

Again, if you're not on the automation network, you will need to tunnel some ports. In order to be able to ssh to these, you will have to forward, say, 10001 to ''nyquist'' port 22 and 10002 to SMRX (replace X!!!) port 22. You will also need to tunnel to an extra port on the SMR for the remote GDB server to communicate with your local GDB client. Eclipse CDT uses the port 2345 by default, so let's just forward that.

'''Windows'''

Add the new tunnels to the session settings...

'''Ubuntu'''

ssh -L10001:nyquist.iau.dtu.dk:22 -L10002:smrx.iau.dtu.dk:22 -L2345:smrx.iau.dtu.dk:2345 {gbarusername}@login.gbar.dtu.dk

We now need to define the connection to SMRX in eclipse. Go to '''File->New->Other...'''. Under '''Remote System Explorer''' choose '''Connection''' and press '''Next'''. Choose '''SSH Only''' and press '''Next'''.

'''If you have direct access to SMRX (you are in the automation network):'''

* You can simply give ''smrx.iau.dtu.dk'' as the host name, so write ''smrx'' in the '''Host name''' and the '''Connection name''' fields and press '''Finish'''.

'''If you are tunneling to the SMR instead:'''

* You need to write ''localhost'' in the ''Host name''' field and ''smrx'' in the '''Connection name''' field. In this case, you also need to specify that we are connecting through port 10002. To do that, go to '''Window->Show View->Other...''' and pick '''Remote Systems Details''' under '''Remote Systems'''. As a result, the '''Remote System Details''' view opens somewhere. Double-click on the ''smrx'' connection, and change all the ports (The 3rd column of the table) to 10002.

Now right click on your project in the '''Project Explorer''' view and pick '''Properties'''. Pick '''C/C++ Build''' and under '''Builder Settings''' uncheck the '''Use default build command''' checkbox. In the '''Build command''' field, type:

'''If you have direct access to SMRX:'''
ssh {kalmanusername}@nyquist.iau.dtu.dk "cd ''projectPath''; make"
'''else:'''
ssh -p 10001 {kalmanusername}@localhost "cd ''projectPath''; make"

Do not forget to replace {kalmanusername} and ''projectPath''. Under '''Behavior''' tab, you might want to uncheck the '''Build (Incremental build)''' and '''Clean''' checkboxes to avoid unnecessary, lengthy builds all the time. Don't forget to build your project when it's necessary though. Press '''OK''' to finish.

In order to set up the debugging; right click on your project in the '''Project Explorer''' view and pick '''Debug As->Debug Configurations...'''. Right click on '''C/C++ Remote Application''' and pick '''New'''. Under the '''Main''' tab, choose ''smrx'' in the connection dropdown list. Click '''Browse''' next to the '''C/C++ Application''' field, and choose the executable you would like to debug on the SMR. Then enter the absolute path of that executable in the SMRX file system. You can also find that file by using the '''Browse''' button and picking the ''smrx'' connection. If you would like to run the executable in a special folder (f.x. where you have your .ini files...), in the '''Commands to execute before application''' field, type:
cd ''workingDirectory''
''workingDirectory'' being obviously the directory that you want to run your executable in. Finally, check the '''Skip download to target path''' checkbox. If you press '''Debug''' now, you will start debugging! (given that you have built your project and SMRX is running etc...)

Main Page

2011-06-15T14:52:03Z

Eba: /* How-to documentation */

Wellcome to the wiki pages of the Robot Systems Engineering (RSE) group at Institute for Automation, DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research at the Institute for Automation.

= Mobotware =

(Mobile Robot software)

AURS [[AU Robot Servers]], download and documentation

[[RHD]] Robot Hardware Daemon

[[Robot sensor modules]], (hardware/firmware) description and documentation

[[Simulation]], description of simulation environments

MRC - see SMR below

= Robots =

[[SMR]] (Small Mobile Robot)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor)

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

= RTAI-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]]

[[Slackware OpenCV package install]]

[[Setting permissions for various devices using udev]]

= 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://server.elektro.dtu.dk/www/sh/junk/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]]

[[AU software license considerations]]

[[RoboCup]]

[[Opdating /usr/local/smr]]

[[Demo of stereo camera]]

[[Install on (K)UBUNTU]]

[[Robot GUI (MARG)]]

[[Transition to version 2011]] - notes

[[Remote Development of Mobotware Using Eclipse]]

= Demonstrations =

[[PLC controlled traffic light]]

Remote Development of Mobotware Using Eclipse

2011-06-15T14:50:02Z

Eba:

It is possible to use an [http://www.eclipse.org Eclipse], running locally on one's computer to remotely develop Mobotware residing in Kalman. This tutorial will describe how to set up eclipse so that one can:
* use full features of Eclipse including indexing, content assist, error highlighting and much more...
* build on the automation servers from inside Eclipse
* debug the code running on the SMRs while stepping through the source code and observing variables in Eclipse

The following description is for Eclipse Galileo (Eclipse 3.5.2), hopefully, the steps will not be very different in future versions.

There are essentially 4 things to do:

* Install Eclipse and the required plug-ins
* Mounted on the local file system the Mobotware directory (or a sub-directory of it) residing in Kalman.
* Set up an Eclipse project for remote development
* Configure Eclipse to make sure all the nice features are available

NOTE: The windows tutorial is not finished as of this very moment!

== Install Eclipse ==
One first needs to install Eclipse, along with the necessary plug-ins for C++ development as well as remote development. Installing Eclipse and enabling it for C++ development differs substantially between operating systems:

=== Windows ===
It is non-trivial to set up an Eclipse C++ development environment under windows. It is not particularly hard, but it's an integration between Eclipse, a plug-in called CDT and GCC ported to windows. It would be futile to list the steps as of writing this tutorial, as the process changes slightly depending on the versions of the named software elements. Try googling "C/C++ development using Eclipse under Windows" and come back when you have this working properly.

Now, it is necessary to install two other plug-ins for our task:
* TM and RSE (Remote system Explorer)
* Eclipse C/C++ Remote Launch

As you've probably already noticed while installing CDT, one installs Eclipse plug-ins through '''Help->Install New Sofware...'''. The drop down list next to '''Work with''' lists some software sites, but the ones we need are probably not there. Click on the 'Available Software Sites' link just under the '''Add...''' button to get a list of software sites compatible with your version of eclipse. You need to add:

''RSE - http://download.eclipse.org/dsdp/tm/updates/3.1'' - for ''TM and RSE''
''CDT - http://download.eclipse.org/tools/cdt/releases/galileo'' - for ''Eclipse C/C++ Remote Launch'', under ''CDT Optional Features''

Note that the above links and names might differ slightly depending on the version, but you're choosing from a list anyway.

=== Ubuntu ===
It is much easier to set up Eclipse for C++ development under Ubuntu. Simply type

sudo apt-get install eclipse

At the command line to install eclipse. This will probably be vanilla Eclipse that won't support plug-ins. So, if you have problems installing the plug-ins later, type

sudo apt-get install eclipse-pde

To prepare eclipse for the plug-ins. Eclipse plug-ins are installed through '''Help->Install New Sofware...'''. The drop down list next to '''Work with''' lists some software sites. We will install CDT (C/C++ Development Tools) from ''Galileo Update Site - http://download.eclipse.org/releases/galileo/''. This is for Eclipse Galileo of course, it will look slightly different on different versions. Select that site, and under ''Programming Languages'' mark ''Eclipse C/C++ Development Tools''. Finish the installation by clicking '''Next''' and so on...

At this point, you should be able to create, compile, run and debug local C/C++ projects as long as you have gcc and make installed. If not, try

sudo apt-get install gcc make

Now, it is necessary to install two other plug-ins for our task:
* TM and RSE (Remote system Explorer)
* Eclipse C/C++ Remote Launch

Go to '''Help->Install New Sofware...''' again, but the software sites we need are probably not in your drop down list. Click on the 'Available Software Sites' link just under the '''Add...''' button to get a list of software sites compatible with your version of eclipse. You need to add:

''RSE - http://download.eclipse.org/dsdp/tm/updates/3.1'' - for ''TM and RSE''
''CDT - http://download.eclipse.org/tools/cdt/releases/galileo'' - for ''Eclipse C/C++ Remote Launch'', under ''CDT Optional Features''

Note that the above links and names might differ slightly depending on the version, but you're choosing from a list anyway.

==Mount the Mobotware directory==
There are many ways to mount your home folder or directly the Mobotware directory residing on Kalman to your local file system. To avoid most complications, we will do it using sshfs here. In order to do so, we need to be able to connect to ''kalman.iau.dtu.dk'' using ssh.

If you are outside the automation network (such as on DTU wireless), you will have to tunnel to kalman through DTU G-Bar for instance. How to do this depends on your operating system. Note that, you do not need the tunneling step if you can already connect to ''kalman.iau.dtu.dk''

=== Tunneling to Kalman ===
==== Windows ====
[www.putty.org putty] is a great and free ssh client for windows and it supports tunneling.

==== Ubuntu ====
In order to tunnel to kalman through G-Bar, you will simply need to type the following in a new terminal:
ssh -L10000:kalman.iau.dtu.dk:22 {gbarusername}@login.gbar.dtu.dk

Don't forget to substitute ''{username}'' with your own.

=== Mounting a Directory from Kalman on Your File System ===
==== Windows ====
[http://dokan-dev.net/en/ Dokan] can be used to mount an sshfs drive on windows. Download and install the ''Dokan Library'' and then download and run the ''Dokan SSHFS''

==== Ubuntu ====
If you do not already have it installed, type the following to install sshfs

sudo apt-get install sshfs

Now create the folder where you would like to mount.

mkdir ''mountPoint''

If you have direct access to Kalman you can type the following to mount a drive from Kalman:

sshfs {kalmanusername}@kalman.iau.dtu.dk:''projectpath'' ''mountPoint''

If you created a tunnel as described before, than you need to go through that tunnel

sshfs -p 10000 {kalmanusername}@localhost:''projectpath'' ''mountPoint''

At this point, you should see the contents of the ''projectpath'' at the ''mountPoint''. You can verify this with:

ls ''mountPoint''

== Set up an Eclipse Remote Development Project ==

Go to '''File->New->Project...'''. Under '''C/C++''', choose '''C++ Project''' and click '''Next'''. Give your project a name, and uncheck the '''Use default location''' checkbox. This will enable the '''Location''' field. Choose the mounted base folder of your project inside the ''mountPoint''. In the '''Project Type''' field, choose '''Makefile project->Empty Project'''. Choose whichever GCC option in the '''Toolchains''' field. Create the project by pressing '''Finish'''.

Your project should now be visible in the '''Project Explorer''' view. At this point, you should be edit your source files, perform content assist on them and use many other Eclipse features, except for debugging on the robot and building on the server. If that is enough for you, you can stop here.

Next, we need to define the connections to ''nyquist'' (or ''jensen'') for compiling the project and to the SMR of your choice for running and debugging the executables on.

Again, if you're not on the automation network, you will need to tunnel some ports. In order to be able to ssh to these, you will have to forward, say, 10001 to ''nyquist'' port 22 and 10002 to SMRX (replace X!!!) port 22. You will also need to tunnel to an extra port on the SMR for the remote GDB server to communicate with your local GDB client. Eclipse CDT uses the port 2345 by default, so let's just forward that.

'''Windows'''

Add the new tunnels to the session settings...

'''Ubuntu'''

ssh -L10001:nyquist.iau.dtu.dk:22 -L10002:smrx.iau.dtu.dk:22 -L2345:smrx.iau.dtu.dk:2345 {gbarusername}@login.gbar.dtu.dk

We now need to define the connection to SMRX in eclipse. Go to '''File->New->Other...'''. Under '''Remote System Explorer''' choose '''Connection''' and press '''Next'''. Choose '''SSH Only''' and press '''Next'''.

'''If you have direct access to SMRX (you are in the automation network):'''

* You can simply give ''smrx.iau.dtu.dk'' as the host name, so write ''smrx'' in the '''Host name''' and the '''Connection name''' fields and press '''Finish'''.

'''If you are tunneling to the SMR instead:'''

* You need to write ''localhost'' in the ''Host name''' field and ''smrx'' in the '''Connection name''' field. In this case, you also need to specify that we are connecting through port 10002. To do that, go to '''Window->Show View->Other...''' and pick '''Remote Systems Details''' under '''Remote Systems'''. As a result, the '''Remote System Details''' view opens somewhere. Double-click on the ''smrx'' connection, and change all the ports (The 3rd column of the table) to 10002.

Now right click on your project in the '''Project Explorer''' view and pick '''Properties'''. Pick '''C/C++ Build''' and under '''Builder Settings''' uncheck the '''Use default build command''' checkbox. In the '''Build command''' field, type:

'''If you have direct access to SMRX:'''
ssh {kalmanusername}@nyquist.iau.dtu.dk "cd ''projectPath''; make"
'''else:'''
ssh -p 10001 {kalmanusername}@localhost "cd ''projectPath''; make"

Do not forget to replace {kalmanusername} and ''projectPath''. Under '''Behavior''' tab, you might want to uncheck the '''Build (Incremental build)''' and '''Clean''' checkboxes to avoid unnecessary, lengthy builds all the time. Don't forget to build your project when it's necessary though. Press '''OK''' to finish.

In order to set up the debugging; right click on your project in the '''Project Explorer''' view and pick '''Debug As->Debug Configurations...'''. Right click on '''C/C++ Remote Application''' and pick '''New'''. Under the '''Main''' tab, choose ''smrx'' in the connection dropdown list. Click '''Browse''' next to the '''C/C++ Application''' field, and choose the executable you would like to debug on the SMR. Then enter the absolute path of that executable in the SMRX file system. You can also find that file by using the '''Browse''' button and picking the ''smrx'' connection. If you would like to run the executable in a special folder (f.x. where you have your .ini files...), in the '''Commands to execute before application''' field, type:
cd ''workingDirectory''
''workingDirectory'' being obviously the directory that you want to run your executable in. Finally, check the '''Skip download to target path''' checkbox. If you press '''Debug''' now, you will start debugging! (given that you have built your project and SMRX is running etc...)

Remote Development of Mobotware Using Eclipse

2011-06-15T13:27:54Z

Eba:

Remote Development of Mobotware Using Eclipse

2011-06-15T12:55:28Z

Eba:

Remote Development of Mobotware Using Eclipse

2011-06-15T12:41:03Z

Eba:

Remote Development of Mobotware Using Eclipse

2011-06-15T11:33:42Z

Eba: /* Ubuntu */

Remote Development of Mobotware Using Eclipse

2011-06-15T10:06:07Z

Eba: Started writing the tutorial page