Transition to version 2011: Difference between revisions

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(New page: ===rc.local=== RHD (trunk version) is pt in: /usr/local/smr/bin/rhdT and RHD configuration files for trunk version in /usr/local/smr/bin/rhdconfigT/* Kinect requires read-write access ...)
 
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===rc.local===
==Jensen/Nyquist/Kalman==


RHD (trunk version) is pt in:
To compile mobotware in jensen/nyquist the following changes need to be implemented:
/usr/local/smr/bin/rhdT
and RHD configuration files for trunk version in
/usr/local/smr/bin/rhdconfigT/*


Kinect requires read-write access to the usb bus devices,
(see also [[Switchtool]] - Shift to Mobotware development branch on the robots)
until this is in the udev rules, chmod is added.


To support MARG an aurs server is added (to start camera and laser server (if not running))
===Libraries===
in /usr/lib or /usr/local/lib
* OpenCV version 2.1
* libdc1394-2  (dev version - version >= 2.1) (for guppy)
* libusb-1.0 (dev version - version >= 1.0.3) - (freenect compile)
* java (sun) plugin to firefox


The needed files are copied from the Kalman version on boot - but should run in isolation too?.
==SMR flash==


====rc.local====
Flash disk with 2011 version is on smr0.


#!/bin/sh
supports
  #
  * RHD trunk version
  # /etc/rc.d/rc.local:  Local system initialization script.
  * Slackware 13.1 and kernal 2.6.32.20-rtai-up
#
  * firewire control version 2.2
# Put any local setup commands in here:
  * opencv version 2.1
/etc/rc.d/rc.autofs start
  * kinect
sleep 1
if [ -d /usr/local/smr.net/bin ]; then
  echo Network IAU
  rm /usr/local/smr
  ln -sf /usr/local/smr.net /usr/local/smr
  /etc/rc.d/rc.ntpd stop
  ntpdate kalman
  /etc/rc.d/rc.ntpd start
  else
  echo ***** Network off *****
  rm /usr/local/smr
  ln -sf /usr/local/smr.local /usr/local/smr
fi
#/usr/local/smr/sbin/smrd &
  /usr/local/smr/bin/rhdT /usr/local/smr/bin/rhdconfig/rhdconfigT.smrS1.xml&
# MARG support (using keeper to start servers)
chmod 777 /dev/bus/usb/* 
chmod 666 /dev/bus/usb/*/*
cd /root/keeper   
export LD_LIBRARY_PATH="/usr/local/smr/aurs/lib:/usr/local/smr/lib"
/usr/local/smr/aurs/aukeeper -a >/dev/null &
# get newest version of marg (if connection to kalman)
cp /usr/local/smr/marg/marg2.jar /srv/httpd/htdocs/dist/
cp /usr/local/smr/marg/robot.xml /srv/httpd/htdocs/robot.xml
# replaces title and hostname in robot.xml file for MARG
SMRHN=`hostname` 
sed -i "s/smrhost/$SMRHN.iau.dtu.dk/g" /srv/httpd/htdocs/robot.xml
##
#Start bluetooth service
if [ -d /proc/bluetooth ]; then
  echo Bluetooth start
  dund --listen --channel 1 call dun
  /sbin/hcid
  /usr/sbin/sdpd
  fi
#/etc/rc.d/rc.yp restart
insmod /usr/realtime/modules/rtai_hal.ko
insmod /usr/realtime/modules/rtai_lxrt.ko
insmod /usr/realtime/modules/rtai_fifos.ko
insmod /usr/realtime/modules/rtai_sem.ko
insmod /usr/realtime/modules/rtai_mbx.ko
insmod /usr/realtime/modules/rtai_msg.ko
insmod /usr/realtime/modules/rtai_netrpc.ko ThisNode="127.0.0.1"


# Set standard sound level
===MARG===
amixer set Master 80% unmute
amixer set PCM 80% unmute


sleep 1
Marg is installed in /srv/httpd/httdocs/
 
===Keeper===
 
Is installed in /root/keeper - with configuration-files and bash scripts only.
i.e. requires access to AURS binaries and lib-files in the default path.

Latest revision as of 07:25, 20 May 2011

Jensen/Nyquist/Kalman

To compile mobotware in jensen/nyquist the following changes need to be implemented:

(see also Switchtool - Shift to Mobotware development branch on the robots)

Libraries

in /usr/lib or /usr/local/lib 

* OpenCV version 2.1
* libdc1394-2  (dev version - version >= 2.1) (for guppy)
* libusb-1.0 (dev version - version >= 1.0.3) - (freenect compile)
* java (sun) plugin to firefox

SMR flash

Flash disk with 2011 version is on smr0.

supports 

* RHD trunk version
* Slackware 13.1 and kernal 2.6.32.20-rtai-up
* firewire control version 2.2
* opencv version 2.1
* kinect

MARG

Marg is installed in /srv/httpd/httdocs/

Keeper

Is installed in /root/keeper - with configuration-files and bash scripts only. i.e. requires access to AURS binaries and lib-files in the default path.

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