Install on raspberry

Short note on installation of (parts of) mobotware on Raspberry Pi

Prerequisite

First install 2012-10-28-wheezy-raspbian on the raspberry Pi flashdisk and expand the flash-disk to at least 4GB - see the instructions on http://elinux.org/RaspberryPiBoardBeginners

Assuming this is up and running - with internet access

Packages needed

The following packeges needs to be installed - e.g. using apt-get like:

sudo apt-get install subversion

Package list:

subversion  (to fetch mobotware from SVN)
libexpat-dev   (RHD)
pciutils-dev   (RHD)
libncurses-dev (RHD)
bison          (MRC)
libsdl-dev     (MRC)
telnet         (MRC test)

Get and unpack mobotware - you need the following directories only:

mobotware/aumat
mobotware/mrc
mobotware/rhd
mobotware/build

The rest of the directories can be deleted, so can rhd/branches

Build

Build the needed parts of mobotware, e.g.:

cd ~/mobotware/aumat/trunk
make
cd ../../rhd/trunk
make
cd ../../mrc/trunk
make

In this order

Then collect the configuration and binary files in a test directory

Test

make a test directory and fill it with the needed configuration and binary files, e.g.

mkdir live
cd live
cp -r ~/mobotware/build/config/gogo/* .
ln -s ~/mobotware/rhd/trunc/build/bin/rhd .
ln -s ~/mobotware/rhd/trunk/build/bin/rhdtest .
ln -s ~/mobotware/mrc/trunk/mrc/mrc .
echo "" >calib/wdssparam.dat

You now need to modify the rhdconfig.xml file: Change the path to plugins, using e.g. nano

nano -w rhdconfig.xml

Change the line (assuming you use the default pi user)

from: <plugins basepath="/usr/local/smr/lib/rhdplugin/">
to:   <plugins basepath="/home/pi/mobotware/rhd/trunk/build/lib/rhdplugin/">

In the rhdconfig.xml there is already a number og plugins, this list need to be updated to your configuration.

To test if the RHD is running you may just change the attribute critical="true" to critical="false", the RHD will then continue even if the plugin fails to initialize. If some plugin is not found - e.g. maestro12ch.so.1 (it is not compiled by default) - then delete it from the rhdconfig.xml file, or change enable="true" to enable="false" for this plugin.

The file calib/robot.conf needs update too. You may use the configuration files in mobotware/build/config for inspiration

Now start the RHD (in the live directory):

./rhd

It should end by saying "RHD is running", else check the rhdconfig.xml as above.

OPen a new terminal tab and run rhdtest to see if it is alive:

./rhdtest

And type

connect

You should now see a list of variables, where at least the Tick is updating.