HAKO

hako 1 - Navigation computer

The navigation computer is primarily running RHD and MRC

Running linux slackware version 12.0 (as of 5 May 2009)

RHD

17 April 2009

Compiled RHD.

Moved to new compiled version (svn 485 from rhd/branches/rhd2.0/build/*)

Moved to /root/hako/rhd484 (including bin, lib and include directories)

cd ~/svn/rhd/branches/rhd2.0/build
tar -czf mrc484.tar.gz bin include lib
scp mrc484.tar.gz root@hako:hako/

on HAKO, make new directoy to new version and move tar file to this

mkdir rhd484
mv rhd484.tar.gz rhd484
cd rhd484
tar -xzf rhd484.tar.gz
cd ..
ln -sf rhd484 rhd
cd rhd/bin
ln -s rhdconfig/rhdconfig.hako.xml rhdconfig.xml

Disable crossbow in rhdconfig.xml (not sufficient stable for real work in this environment)

MRC

17 April 2009

snapshot of MRC (from /vhome/naa/robot2005/src/) to my svn directory on jensen

Changed path of librhd.a in Makefile in mrc subdirectory to:

LIBS= -lrobot -lm /vhome/jca/svn/rhd/branches/rhd2.0/build/lib/librhd.a \
     /vhome/naa/linux/smr/libsmr/libsmr.a \
     -lpthread -lncurses -lexpat -liau_mat

Reference to RHD rhd.h should have moved to

/vhome/jca/svn/rhd/branches/rhd2.0/include/rhd.h

but was not (should be OK), used the version in

/usr/local/smr/include

compiled MRC, and moved it to

scp mrc root@hako:hako/

MRC configuration

17 April 2009

the Hako calibration parameters are in

/root/hako/calib/robot.conf

HAKO old mission manager

Start in browser

Browser with java enabled.

Connect to:

http://192.168.1.10/hako/applet/index.php

Hvis det er første gang, så download 'settings' fil nederst i vinduet, og placer i eget bibliotek som beskrevet. Restart browser.

Vælg så "Hako Control" øverst på php-siden.

Så forbinder java-applet til hakoclient, som starter RHD og MRC på hako-navigationscomputer.

Når forbindelse er etableret og GPS er i fix-mode er status grøn, og klar til at loade en mission.

files

On the HAKO1 computer the mission is placed in

/srv/httpd/...?../hako/applet/ ...

as is the mission logfile.

hakoclient

Is called smrdemoclient in the /srv/httpd/.../hako/applet/run directory, but refers to hakoclient in the /home/ex05/..../ directory.

hakoclient can be started manually with the mission XML file as parameter.

../bin/smrdemoclient mission.xml

The hakoclient source is in the svn (version 1011 as of 30 jun 2010) updated to handle the following issues:

• based on NAA modifications to omegaturn.
• Skipped the last drive on tight omega turns (in file turn_omega.c), to allow faster convergence to next no-turn leg.
• Skipped the last turnr in a fishtail-turn (in functions.c) to allow faster convergence to next no-turn leg.
• Reduced forward drive after first turnr to 20cm (from 0.7m) to make manoeuvre more smooth.
• added a few comments, removed a few unused variables and modified 2 variables from 'int' to 'unsigned int' to remove warnings.
• made a copy of 'stream2line.h' and '-.c' into hakoclient directory to make compilation independent of librobot.a in NAA home directory.

All to be tested 1 july 2010.

hako 2 - Perception computer

Perception computer Is running AU robot servers and works as remote control server

Running linux slackware version 12.0 (as of 5 May 2009)