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.