HAKO: Difference between revisions
| Line 101: | Line 101: | ||
* Reduced forward drive after first turnr to 20cm (from 0.7m) to make manoeuvre more smooth. | * 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. | * 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. | All to be tested 1 july 2010. | ||
Revision as of 11:08, 30 June 2010
software installation on HAKO
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.
The hakoclient 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)
