Install on (K)UBUNTU: Difference between revisions
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All robots run - for now - '''32-bit LINUX distributions''' and thus tested much more than 64-bit. | 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. | On '''64-bit Ubuntu''', Mobotware compiles, runs and is tested to some extend. | ||
==UBUNTU version | ==UBUNTU version 16.04 -- 20.04== | ||
This description is valid for UBUNTU, KUBUNTU and XUBUNTU | This description is valid for UBUNTU, KUBUNTU and XUBUNTU | ||
* Preferred version is (K)Ubuntu 16.04 32 bit for Mobotware version >=3.200 | |||
* Preferred version is (K)Ubuntu | |||
After successfully installing KUBUNTU, UBUNTU or | After successfully installing KUBUNTU, UBUNTU or XUBUNTU, install the following packages | ||
e.g. install a package from the command-prompt like: | e.g. install a package from the command-prompt like: | ||
sudo apt-get install cmake | sudo apt-get install cmake | ||
Needed packages: | Needed packages (ubuntu 20.04): | ||
- subversion ( | build-essential | ||
cmake | |||
subversion | |||
libopencv-dev | |||
libraw1394-dev (maybe already installed?) | |||
libncurses-dev | |||
libreadline-dev | |||
libsdl-dev | |||
libv4l-dev | |||
libusb-dev | |||
libusb-1.0-0-dev (kinect) | |||
libboost-dev | |||
libboost-system-dev | |||
libexpat-dev | |||
libpci-dev | |||
bison | |||
libpcl-dev | |||
libfltk1.3-dev | |||
qt3d5-dev | |||
sudo apt install build-essential cmake subversion libopencv-dev libraw1394-dev libncurses-dev libreadline-dev libsdl-dev libv4l-dev libusb-dev libusb-1.0-0-dev libboost-dev libboost-system-dev libexpat-dev libpci-dev bison libpcl-dev libfltk1.3-dev qt3d5-dev | |||
Needed packages (ubuntu 18.04): | |||
build-essential | |||
cmake | |||
subversion | |||
libopencv-dev | |||
libraw1394-dev (maybe already installed?) | |||
ncurses-dev | |||
libreadline-dev | |||
libsdl-dev | |||
libv4l-dev | |||
libusb-dev | |||
libusb-1.0-0-dev (kinect) | |||
libboost-dev | |||
libboost-system-dev | |||
libexpat-dev | |||
libpci-dev | |||
bison | |||
libqt4-dev | |||
libpcl-dev | |||
libfltk1.3-dev | |||
qt3d5-dev | |||
libgstreamer1.0-dev | |||
sudo apt install build-essential cmake subversion libopencv-dev libraw1394-dev ncurses-dev libreadline-dev libsdl-dev libv4l-dev libusb-dev libusb-1.0-0-dev libboost-dev libboost-system-dev libexpat-dev libpci-dev bison libqt4-dev libpcl-dev libfltk1.3-dev qt3d5-dev libgstreamer1.0-dev | |||
Needed packages (ubuntu 16.04): | |||
- gcc | - gcc | ||
- g++ | - g++ | ||
- cmake | - cmake | ||
- libopencv-dev (ubuntu from 12.4, for earlier versions of ubuntu: try load libhighgui-dev and libcv-dev instead) | - libopencv-dev (ubuntu from 12.4, for earlier versions of ubuntu: try load libhighgui-dev and libcv-dev instead) | ||
- libraw1394-dev | - libraw1394-dev | ||
- ncurses-dev | - ncurses-dev | ||
- libreadline-dev | - libreadline-dev | ||
- libsdl-dev | - libsdl-dev | ||
- bison (for MRC) | - bison (for MRC) | ||
- libudev-dev | - libudev-dev | ||
- | - libusb-dev | ||
- libusb- | - libusb-1.0-0-dev | ||
- libv4l-dev (video usage) | - libv4l-dev (video usage) | ||
- libboost-dev (used by aulocalizer plug-in, but also included in libpcl) | |||
- libboost-system-dev | |||
- python-dev (can p.t. do without) | |||
- libpcl-dev (libpcl-all-dev) (see PCL-note) | |||
- libgstreamer0.10-dev (for client and camera interface - NB ubuntu-16.04 only) | |||
- libgstreamer1.0-dev | |||
- v4l-utils (used by v4lgst camera plugin - to get cam device info)) | |||
- libpci-dev (To compile Guidebot's RHD plugin) | |||
- libfltk1.3-dev (Stage Simulator) | |||
- libltdl-dev (Stage Simulator) | |||
Probably not needed | |||
- subversion (if you have access to source on SVN) | |||
- doxygen (for documentation only) | |||
- putty (useful serial terminal emulator) | - putty (useful serial terminal emulator) | ||
- kdevelop or eclipse (integrated development environment - not strictly needed (and not with XUBUNTU)) | - kdevelop or eclipse (integrated development environment - not strictly needed (and not with XUBUNTU)) | ||
- lsof (to track open files - also device files) | - lsof (to track open files - also device files) | ||
- | - libdc1394-22-dev | ||
- | - libpng-dev | ||
- | - libexpat-dev | ||
- icedtea-plugin (to run MARG) | |||
- libopencv-gpu-dev | |||
Packages to compile AVR-C - e.g. motor controller and labyrinth | Packages to compile AVR-C - e.g. motor controller and labyrinth | ||
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- binutils-avr | - binutils-avr | ||
- avr-libc | - avr-libc | ||
For compiling on 64-bit computers (without PCL), disable the following plugins in <tt>aurobotservers/trunk/plugin/Makefile</tt> | |||
- auviewer | |||
- aupcp | |||
- aupcltest | |||
- autof2 | |||
- auptgrey | |||
=== QClient === | |||
On my 32 bit KUBUNTU at may 2015, qclient failed to compile. | |||
Complaining: fatal error: glibconfig.h not found, | |||
I made this link to solve the problem. | |||
cd /usr/include/glib-2.0 | |||
sudo ln -s /usr/lib/i386-linux-gnu/glib-2.0/include/glibconfig.h . | |||
=== PCL === | === PCL === | ||
The Point Clouds Library (PCL) is in a separate ubuntu repository, so see the instructions on: | The Point Clouds Library (PCL) is in a separate ubuntu repository, so see the instructions on: | ||
http://pointclouds.org/downloads/linux.html | http://pointclouds.org/downloads/linux.html | ||
=== Boost === | === Boost === | ||
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#include <boost/typeof/std/locale.hpp> | #include <boost/typeof/std/locale.hpp> | ||
====Ubuntu 13.04 32/64-bit - BOOST compile fails==== | ====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) | p.t. (may 2013) boost do not compile using GCC-4.7, as is default on 64 bit (ubuntu 13.04) | ||
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then add them (taken from from http://askubuntu.com/questions/26498/choose-gcc-and-g-version) | then add them (taken from from http://askubuntu.com/questions/26498/choose-gcc-and-g-version) | ||
Install compiler version 4.6 ( | Install compiler version 4.6 (assuming 4.7 is installed): | ||
sudo apt-get install gcc-4.6 g++-4.6 cc-4.6 | sudo apt-get install gcc-4.6 g++-4.6 cc-4.6 | ||
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===Freenect LIB=== | ===Freenect LIB=== | ||
Latest version requires | Latest version requires these packages: | ||
* libxmu-dev | * libxmu-dev | ||
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To compile from git source - not needed in mobotware | To compile from git source - not needed in mobotware | ||
===Camera driver for uEye IDS=== | |||
Driver for the IDS ueye camera needs to be installed to use the camera. It does not support video 4 linux, nor openCV directly. Tested on ubuntu 32 bit 14.04 and on ubuntu 64 bit 16.04. | |||
Get the driver from https://en.ids-imaging.com/download-ueye-lin32.html (32bit or 64 bit) | |||
Download, unpack and run installer as root (for a 32 bit linux) | |||
tar -xf uEye-Linux-4.81-32-bit.tgz | |||
sudo ./ueyesdk-setup-4.81-usb-i686.gz.run | |||
This installs the driver and a daemon in /etc/init.d that will start at boot time | |||
Start the daemon | |||
sudo /etc/init.d/ueyeusbdrc start | |||
The camera can now be configured and pre-viewed using (same as ueyecameramanager) | |||
idscameramanager | |||
Or demoed and configured using | |||
ueyedemo | |||
There is also a utility to set ID number of camera: | |||
ueyesetid | |||
===openCV (and ROS) issues=== | ===openCV (and ROS) issues=== |
Latest revision as of 09:35, 28 March 2023
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 16.04 -- 20.04
This description is valid for UBUNTU, KUBUNTU and XUBUNTU
- Preferred version is (K)Ubuntu 16.04 32 bit for Mobotware version >=3.200
After successfully installing KUBUNTU, UBUNTU or XUBUNTU, install the following packages
e.g. install a package from the command-prompt like:
sudo apt-get install cmake
Needed packages (ubuntu 20.04):
build-essential cmake subversion libopencv-dev libraw1394-dev (maybe already installed?) libncurses-dev libreadline-dev libsdl-dev libv4l-dev libusb-dev libusb-1.0-0-dev (kinect) libboost-dev libboost-system-dev libexpat-dev libpci-dev bison libpcl-dev libfltk1.3-dev qt3d5-dev sudo apt install build-essential cmake subversion libopencv-dev libraw1394-dev libncurses-dev libreadline-dev libsdl-dev libv4l-dev libusb-dev libusb-1.0-0-dev libboost-dev libboost-system-dev libexpat-dev libpci-dev bison libpcl-dev libfltk1.3-dev qt3d5-dev
Needed packages (ubuntu 18.04):
build-essential cmake subversion libopencv-dev libraw1394-dev (maybe already installed?) ncurses-dev libreadline-dev libsdl-dev libv4l-dev libusb-dev libusb-1.0-0-dev (kinect) libboost-dev libboost-system-dev libexpat-dev libpci-dev bison libqt4-dev libpcl-dev libfltk1.3-dev qt3d5-dev libgstreamer1.0-dev sudo apt install build-essential cmake subversion libopencv-dev libraw1394-dev ncurses-dev libreadline-dev libsdl-dev libv4l-dev libusb-dev libusb-1.0-0-dev libboost-dev libboost-system-dev libexpat-dev libpci-dev bison libqt4-dev libpcl-dev libfltk1.3-dev qt3d5-dev libgstreamer1.0-dev
Needed packages (ubuntu 16.04):
- gcc - g++ - cmake - libopencv-dev (ubuntu from 12.4, for earlier versions of ubuntu: try load libhighgui-dev and libcv-dev instead) - libraw1394-dev - ncurses-dev - libreadline-dev - libsdl-dev - bison (for MRC) - libudev-dev - libusb-dev - libusb-1.0-0-dev - libv4l-dev (video usage) - libboost-dev (used by aulocalizer plug-in, but also included in libpcl) - libboost-system-dev - python-dev (can p.t. do without) - libpcl-dev (libpcl-all-dev) (see PCL-note) - libgstreamer0.10-dev (for client and camera interface - NB ubuntu-16.04 only) - libgstreamer1.0-dev - v4l-utils (used by v4lgst camera plugin - to get cam device info)) - libpci-dev (To compile Guidebot's RHD plugin) - libfltk1.3-dev (Stage Simulator) - libltdl-dev (Stage Simulator)
Probably not needed
- subversion (if you have access to source on SVN) - doxygen (for documentation only) - 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) - libdc1394-22-dev - libpng-dev - libexpat-dev - icedtea-plugin (to run MARG) - libopencv-gpu-dev
Packages to compile AVR-C - e.g. motor controller and labyrinth
- gcc-avr - binutils-avr - avr-libc
For compiling on 64-bit computers (without PCL), disable the following plugins in aurobotservers/trunk/plugin/Makefile
- auviewer - aupcp - aupcltest - autof2 - auptgrey
QClient
On my 32 bit KUBUNTU at may 2015, qclient failed to compile.
Complaining: fatal error: glibconfig.h not found, I made this link to solve the problem.
cd /usr/include/glib-2.0 sudo ln -s /usr/lib/i386-linux-gnu/glib-2.0/include/glibconfig.h .
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 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 (assuming 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 these packages:
- libxmu-dev
- libxi-dev
To compile from git source - not needed in mobotware
Camera driver for uEye IDS
Driver for the IDS ueye camera needs to be installed to use the camera. It does not support video 4 linux, nor openCV directly. Tested on ubuntu 32 bit 14.04 and on ubuntu 64 bit 16.04.
Get the driver from https://en.ids-imaging.com/download-ueye-lin32.html (32bit or 64 bit)
Download, unpack and run installer as root (for a 32 bit linux)
tar -xf uEye-Linux-4.81-32-bit.tgz sudo ./ueyesdk-setup-4.81-usb-i686.gz.run
This installs the driver and a daemon in /etc/init.d that will start at boot time
Start the daemon
sudo /etc/init.d/ueyeusbdrc start
The camera can now be configured and pre-viewed using (same as ueyecameramanager)
idscameramanager
Or demoed and configured using
ueyedemo
There is also a utility to set ID number of camera:
ueyesetid
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)