Jca at 09:44, 23 December 2020

2020-12-23T09:44:09Z

← Older revision		Revision as of 11:44, 23 December 2020
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	NB! This info may be depricated.		NB! This info may be depricated.

			=== Packages needed ===

			sudo apt install cmake
			sudo apt install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libgtk2.0-dev
			sudo apt install libatlas-base-dev gfortran alsa-tools jackd1
			sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev subversion libreadline-dev htpdate aptitude
			# video for linux had some error, maybe this will help
			cd /usr/include/linux
			sudo ln -s -f ../libv4l1-videodev.h videodev.h
			# opencv
			# sudo apt install libopencv-dev (sorry, installs opencv 2.4 (jan 2020), with no ArUco code support)

			==== Opencv ====

			As of June 2019 opencv 3.2 is installed using line above - NO, it is back to 2.4 on noops 3.2.1 (jan 2020/jca)

			Newer version of Opencv could be installed manually if you really need functions not available in 3.2.
			For newer installation use

			# make a directory for the opencv source
			cd
			mkdir -p git
			cd git
			# get source
			wget -O opencv-3.4.zip https://github.com/Itseez/opencv/archive/3.4.zip
			unzip opencv-3.4.zip
			wget -O opencv_contrib-3.4.zip https://github.com/Itseez/opencv_contrib/archive/3.4.zip
			unzip opencv_contrib-3.4.zip
			# you will need this - if you use python - takes some minutes
			pip install numpy
			# prepare compilation
			cd ~/git/opencv-3.4/
			mkdir build
			cd build
			cmake -D CMAKE_BUILD_TYPE=RELEASE \
			-D CMAKE_INSTALL_PREFIX=/usr/local \
			-D INSTALL_PYTHON_EXAMPLES=ON \
			-D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib-3.4/modules \
			-D BUILD_EXAMPLES=ON ..
			# inspect printout to see if needed features are enabled
			# use -j2 option not to overload or overheat the processor (j2 means use 2 cores only)
			# this probably takes an hour or so
			make -j2
			# install into /usr/local
			sudo make install
			# load environment settings
			sudo ldconfig



	=== Packages needed for Mobotware RHD/MRC ===		=== Packages needed for Mobotware RHD/MRC ===

Jca: Created page with " == NB! == NB! This info may be depricated. === Packages needed for Mobotware RHD/MRC === Package list for RHD and MRC (paste the last line to a terminal window): libexpa..."

2020-12-23T09:42:30Z

Created page with " == NB! == NB! This info may be depricated. === Packages needed for Mobotware RHD/MRC === Package list for RHD and MRC (paste the last line to a terminal window): libexpa..."

New page

== NB! ==

NB! This info may be depricated.

=== Packages needed for Mobotware RHD/MRC ===

Package list for RHD and MRC (paste the last line to a terminal window):

libexpat-dev (RHD)
pciutils-dev (RHD)
libncurses-dev (RHD)
bison (MRC)
libsdl-dev (MRC)
telnet (MRC test)
sshfs (may be a good idea to access filesystem from another PC)
sudo apt-get install subversion libexpat-dev pciutils-dev libncurses-dev bison libsdl-dev telnet sshfs

=== Additional for AURS (e.g. camera server) ===

Package list - opencv removed as newer version installed above (paste the last line to a terminal window)
cmake
# libopencv-dev
libreadline-dev
libudev-dev
libusb-dev
# libv4l-dev
python-dev
libgstreamer0.10-dev
libboost-dev
libboost-system-dev
python-opencv (not needed, but nice)
sudo apt-get install cmake libreadline-dev libudev-dev libusb-dev libgstreamer0.10-dev libboost-dev libboost-system-dev python-opencv

==== Python ====

Further python image processing install

sudo pip install Image

=== Mount filesystem ===

As an option, mount the home directory on raspberry-pi to your local PC for easy
file modification.

On your PC type make a directory for the filesystem

mkdir rpi
sshfs local@10.59.8.141: rpi
ls rpi

with your IP address or IP replaced by ''hostname.local''.

Unmount with

fusermount -u rpi

==Mobotware ==

Get and unpack mobotware - see main page of this wiki for info

Either from SVN - if you have access, or from our lab-computers as a mobotware-XXX.tar.gz file, where XXX is version number.

unpack if a .gz file and make a symbolic link to "mobotware" to make this guide work.

tar -xzf mobotware-XXX.tar.gz
ln -s mobotware-XXX mobotware

or, if from SVN:

svn co svn://repos.gbar.dtu.dk/jcan/mobotware mobotware

this makes a mobotware directory with all the files.

=== Modify makefiles ===

Not all parts of Mobotware runs on a raspberry, so some parts must be removed from the Makefiles:

Enter the mobotware directory

cd mobotware-XXX

==== main Makefile ====

nano -w Makefile

Change this section

APPSUBDIRS = aumat/trunk \
aurobotservers/trunk/include \
aurobotservers/trunk/libs \
mapbase/trunk \
rhd/trunk \
mrc/trunk \
hakoclient/trunk \
aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \
aurs-plugins/auzoneobst \
aurobotservers/trunk \
simulator/trunk

delete the lines

hakoclient/trunk (GUI for HAKO tractor)
simulator/trunk (simulator will not run on raspberry)

so that it looks like

APPSUBDIRS = aumat/trunk \
aurobotservers/trunk/include \
aurobotservers/trunk/libs \
mapbase/trunk \
rhd/trunk \
mrc/trunk \
aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \
aurs-plugins/auzoneobst \
aurobotservers/trunk

Remember to remove the last back-slash

==== RHD plugins Makefile ====

cd rhd/trunk/plugins
nano -w Makefile

In this section

PLUGINLIST := auserial gps crossbow fogyro hakocan smrdserial rflex \
rs232linesensor powercube esm slugs usbiss sf9dof \
joycontrol gdm8246 buspiratei2c buspiratead \
herkulex saberandmagenc imu gps2\
smrarm rhdlog hexakopter gbprofibus roboteq gpsSocket \
fieldsteer fielddrive fieldfrontenc \
dynamixel cruizcore simstage3

Remove
gbprofibus
simstage3

==== server Plug-ins etc.====

Some servers and plug-ins are excluded from raspberry pi (''qclient'', ''kinect'' and point-cloud related plug-ins)
in the respective Makefiles.

=== Build ===
Build mobotware:
cd ~/mobotwareXXX
make

This should now compile with warnings only

(''augraphplan.h not found'' may appear,
but try one more ''make'', then it usually works
@todo - find out why)

=== install ===

The easyest way to use Mobotware is then to install into /usr/local/smr.

This is done by

sudo make install

There will be a few error messages related to the uncompileable modules: qclient, hakoclient, simserver and libstage, this is OK.

==== setup path ====

Add the mobotware bin-directory into default PATH in ''/etc/profile''

sudo nano -w /etc/profile

append the PATH line with '':/usr/local/smr/bin'' two places, like:

...
if [ "`id -u`" -eq 0 ]; then
PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/smr/bin"
else
PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games:/usr/local/smr/bin"
fi
...

And add mobotware AURS library path into .bashrc

nano -w ~/.bashrc

append a line like this

export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/local/smr/lib"

To make this work, you have to logout and login again.

=== Make a Mobotware test configuration ===

Logout and login to ensure that the PATH settings gets implemented

Make a directory to run from

mkdir ~/live
cd ~/live

Copy a robot configuration file

cp -r /usr/local/etc/mobotware/calib .

make a ''rhdconfig.xml'' file with this content (loads a ''joystick'' and ''log'' plugin only).
Look in ''mobotware/build/config'' for specific versions for different robots.

<?xml version="1.0" ?>


<rhd>


<sheduler>
<period value="12000"/>
<type value="LXRT"/>
</sheduler>

<server>
<port value="24902"/>
<clients number="10" allwriters="1"/>
</server>

<plugins basepath="/usr/local/smr/lib/rhdplugin/">

<joycontrol enable="true"
lib="libjoycontrol.so.1"
critical="false"
safety="1">
<joystick port="/dev/input/js0"/>

<speed maxfwd="900"
maxturn="900"
fastBut="5"
slowFactor="0.3"/>

<deadband max="767" min="-767"/>
<control enable="true"/>
</joycontrol>

<rhdlog enable="true"
lib="rhdlog.so.1"
critical="false"
interval="1"
safety="2"
debug="0">
</rhdlog>
</plugins>
</rhd>

=== Test Mobotware ===

==== RHD ====

Hardware abstraction layer (Robot Hardware Daemon)

Start RHD

rhd

It should end saying "RHD is running"

(Stops with ctrl-C)

==== MRC ====

Mobile Robot Control.

While the RHD is running (in another terminal)

start the MRC

cd ~/live
mrc

This should show a list of options

-press 5 to quit

==== Laser scanner server ====

Start laser scanner server

ulmsserver

There will be some errors as there is no laserscanner ...

Press enter a few times to get a prompt ">>"

Type
help
this should show a list of loaded plugins, like

...
Available commands (from currently loaded modules):
- push q server help shelp module do BASH alive quit exit
- scanGet scanPush scanSet
- odoPose odoPosePush
- mapPose mapPosePush
- utmPose utmPosePush
- var varPush
- poly
- mapbase
- settable addline setinitpose setinitcov localizeMHF localize resetlocalizer outputdist odoposeupdate resample localizeUKF
...

Try e.g.
scanget fake=3
this should show a lot of HEX numbers and a few more errors.

Press ''q'' to quit

==== Camera server ====

Copy the camera server configuration for raspberry camera (otherwise a default ucamserver.ini will be created without the raspberry plugins).

cp ~/mobotware/build/config/raspberry/ucamserver.ini .

Start the camera server - and optionally load the camera plug-in.

ucamserver

This should end with something like this

Camera_server 2.1966 (May 1 2015 13:42:21 jca@oersted.dtu.dk)
- on port 24920
- type h for help, q for quit

If camera is available, then use

poollist

to se if camera is running.

Pres ''q'' to quit

===Code change===

Every time you recompile any module, it is not implemented until you also run

cd ~/mobotware
sudo make install

To implement newly compiled modules right away, change a symbolic link:

cd /usr/local
sudo rm smr
sudo ln -s ~/mobotware/build smr

Mobotware on raspberry - Revision history

Jca at 09:44, 23 December 2020

Jca: Created page with " == NB! == NB! This info may be depricated. === Packages needed for Mobotware RHD/MRC === Package list for RHD and MRC (paste the last line to a terminal window): libexpa..."