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| To compile mobotware in jensen/nyquist the following changes need to be implemented: | | To compile mobotware in jensen/nyquist the following changes need to be implemented: |
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| | (see also [[Switchtool]] - Shift to Mobotware development branch on the robots) |
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| ===Libraries=== | | ===Libraries=== |
| in /usr/lib or /usr/local/lib | | in /usr/lib or /usr/local/lib |
| * OpenCV version 2.1 | | * OpenCV version 2.1 |
| * libdc1394 (dev version) | | * libdc1394-2 (dev version - version >= 2.1) (for guppy) |
| * libusb-1.0 (dev version) | | * libusb-1.0 (dev version - version >= 1.0.3) - (freenect compile) |
| | | * java (sun) plugin to firefox |
| (more to come) | |
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| ==SMR flash== | | ==SMR flash== |
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| * opencv version 2.1 | | * opencv version 2.1 |
| * kinect | | * kinect |
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| ===ld.so.conf===
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|
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| In /etc/ld.so.conf additional lib directories are added:
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| /usr/realtime/lib
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| /usr/local/lib
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| /usr/local/smr/lib
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| /usr/local/smr/aurs/lib
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| /usr/X11R6/lib
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| /usr/i486-slackware-linux/lib
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| ===rc.local===
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| In /etc/rc.d/rc.local
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| RHD (trunk version) is pt in:
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| /usr/local/smr/bin/rhdT
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| and RHD configuration files for trunk version in
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| /usr/local/smr/bin/rhdconfigT/*
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| - The Ts should be removed when old configuration has gone.
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| Kinect requires read-write access to the usb bus devices,
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| until this is in the udev rules, chmod is added.
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| To support MARG an aurs server is added (to start camera and laser server (if not running))
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|
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| The needed files are copied from the Kalman version on boot - but should run in isolation too?.
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|
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| #!/bin/sh
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| #
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| # /etc/rc.d/rc.local: Local system initialization script.
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| #
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| # Put any local setup commands in here:
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| /etc/rc.d/rc.autofs start
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| sleep 1
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| if [ -d /usr/local/smr.net/bin ]; then
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| echo Network IAU
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| rm /usr/local/smr
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| ln -sf /usr/local/smr.net /usr/local/smr
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| /etc/rc.d/rc.ntpd stop
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| ntpdate kalman
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| /etc/rc.d/rc.ntpd start
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| else
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| echo ***** Network off *****
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| rm /usr/local/smr
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| ln -sf /usr/local/smr.local /usr/local/smr
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| fi
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| #
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| /usr/local/smr/bin/rhdT /usr/local/smr/bin/rhdconfig/rhdconfigT.smrS1.xml&
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| # MARG support (using keeper to start servers)
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| chmod 777 /dev/bus/usb/*
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| chmod 666 /dev/bus/usb/*/*
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| cd /root/keeper
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| export LD_LIBRARY_PATH="/usr/local/smr/aurs/lib:/usr/local/smr/lib"
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| /usr/local/smr/aurs/aukeeper -a >/dev/null &
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| # get newest version of marg (if connection to kalman)
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| cp /usr/local/smr/marg/marg2.jar /srv/httpd/htdocs/dist/
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| cp /usr/local/smr/marg/robot.xml /srv/httpd/htdocs/robot.xml
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| # replaces title and hostname in robot.xml file for MARG
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| SMRHN=`hostname`
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| sed -i "s/smrhost/$SMRHN.iau.dtu.dk/g" /srv/httpd/htdocs/robot.xml
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| ##
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| #Start bluetooth service
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| if [ -d /proc/bluetooth ]; then
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| echo Bluetooth start
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| dund --listen --channel 1 call dun
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| /sbin/hcid
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| /usr/sbin/sdpd
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| fi
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| #/etc/rc.d/rc.yp restart
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| insmod /usr/realtime/modules/rtai_hal.ko
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| insmod /usr/realtime/modules/rtai_lxrt.ko
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| insmod /usr/realtime/modules/rtai_fifos.ko
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| insmod /usr/realtime/modules/rtai_sem.ko
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| insmod /usr/realtime/modules/rtai_mbx.ko
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| insmod /usr/realtime/modules/rtai_msg.ko
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| insmod /usr/realtime/modules/rtai_netrpc.ko ThisNode="127.0.0.1"
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| # Set standard sound level
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| amixer set Master 80% unmute
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| amixer set PCM 80% unmute
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| sleep 1
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| ===MARG=== | | ===MARG=== |
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.
