Transition to version 2011: Difference between revisions

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


===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)


==SMR flash==
==SMR flash==
Line 21: Line 22:
  * opencv version 2.1
  * opencv version 2.1
  * kinect
  * kinect
===rc.local===
In /etc/rc.d/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/*
- The Ts should be removed when old configuration has gone.
Kinect requires read-write access to the usb bus devices,
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))
The needed files are copied from the Kalman version on boot - but should run in isolation too?.
#!/bin/sh
#
# /etc/rc.d/rc.local:  Local system initialization script.
#
# Put any local setup commands in here:
/etc/rc.d/rc.autofs start
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/bin/rhdT /usr/local/smr/bin/rhdconfigT/rhdconfig.smrS0.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
amixer set Master 80% unmute
amixer set PCM 80% unmute
sleep 1


===MARG===
===MARG===

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.