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| ===rc.local=== | | ==Jensen/Nyquist/Kalman== |
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| 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/*
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| 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.
| |
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| |
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| 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 |
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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?.
| | ==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/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
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| /usr/sbin/sdpd
| |
| fi | |
| #/etc/rc.d/rc.yp restart
| |
| insmod /usr/realtime/modules/rtai_hal.ko
| |
| 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"
| |
| # Set standard sound level
| |
| amixer set Master 80% unmute
| |
| amixer set PCM 80% unmute
| |
| sleep 1
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|
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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.
